Patient Support Systems And Methods For Assisting Caregivers With Patient Care

ABSTRACT

A patient support system comprises a patient support apparatus for patients. The patient support apparatus also comprises an actuatable device that perform one or more predetermined functions on the patient support apparatus. A controller is provided to control the rate of operation of the actuatable devices based on a user input or a patient condition.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.15/369,188, filed on Dec. 5, 2016, which claims the benefit of andpriority to U.S. Provisional Patent Application No. 62/271,054, filed onDec. 22, 2015, the disclosures of each of which are hereby incorporatedby reference in their entirety.

BACKGROUND

Patient support systems facilitate care of patients in a health caresetting. Patient support systems comprise patient support apparatusessuch as, for example, hospital beds, stretchers, cots, tables, andwheelchairs. Conventional patient support apparatuses comprise a baseand a patient support surface upon which the patient is supported.Often, these patient support apparatuses have one or more actuatabledevices to perform one or more functions on the patient supportapparatus. These functions can include lifting and lowering the patientsupport surface, raising a patient from a slouched position, turning apatient, centering a patient, and the like. When the caregiver wishes tooperate an actuatable device to perform a function, the caregiver oftenactuates a user input device, often in the form of a button on a controlpanel. To continue performing the function, the caregiver is required tocontinue depressing the button until a desired outcome is achieved,e.g., the patient support surface is lifted to a desired height, thepatient is sufficiently raised from the slouched position to a desiredposition, etc. A default rate of operation of the actuatable device maybe too fast for certain patient conditions, such as when the patient hasa history of skin lesions. Furthermore, the default rate of operationmay be slower than desired, especially when the patient is not disposedon the patient support apparatus.

A patient support system designed to control the rate of operation ofthe actuatable devices and overcome one or more of the aforementionedchallenges is desired.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is perspective view of a patient support apparatus including amattress.

FIG. 1B is perspective view of the patient support apparatus of FIG. 1Awithout the mattress.

FIG. 2 is a perspective view of a powered wheel assembly.

FIG. 3 is a perspective view of a coordinated motion device.

FIGS. 4A-4F are side views of various states of the coordinated motiondevice of FIG. 3.

FIG. 5 is a simplified schematic view of a control system.

FIG. 6 is a schematic view of a control system.

FIG. 7 is an illustration of a control panel for the patient supportapparatus of FIGS. 1A and 1B.

FIG. 8 is an illustration of a control panel for the coordinated motiondevice of FIG. 3.

FIG. 9 is a schematic view of sources of patient-related information.

FIG. 10 is a chart showing different rates of operation for a liftdevice based on different patient conditions.

FIG. 11 is a chart showing different rates of operation for a fowleradjustment device based on different movement sensitivity scores.

FIG. 12 is a schematic of a method of controlling a rate of operationfor an actuatable device based on a patient condition.

FIG. 13 is a schematic of a method of controlling a rate of operationfor an actuatable device with a voice actuation interface.

FIG. 14 is a side view of the coordinated motion device of FIG. 3 withthe seat, back rest, and leg rest removed.

FIG. 15A shows a progression of states assumed by the coordinated motiondevice of FIG. 3.

FIG. 15B shows a schematic view of a control system for the coordinatedmotion device of FIG. 3.

FIG. 16 is a schematic of a method of controlling a rate of operationfor the coordinated motion device.

FIG. 17A is a cross-sectional view of a mattress taken longitudinallyalong the mattress to illustrate a pump and inflatable bladders.

FIG. 17B is another cross-sectional view of the mattress taken laterallyacross the mattress.

FIGS. 18A, 18B, and 18C are illustrations of raising a patient from aslouched position to a raised position.

FIGS. 19A and 19B are illustrations of centering the patient relative toa centerline.

FIGS. 20A and 20B are illustrations of turning a patient.

FIG. 21 is a simplified fluid and control schematic for a patientraising device, a patient centering/turning device, and a patientingress/egress device.

FIG. 22 is a side view of a lift device.

FIG. 23 is a side view of a fowler and gatch adjustment device.

DETAILED DESCRIPTION

Referring to FIGS. 1A and 1B, a patient support system PS comprising apatient support apparatus 30 is shown for supporting a patient in ahealth care setting. The patient support apparatus 30 illustrated inFIGS. 1A and 1B comprises a hospital bed. In other embodiments, however,the patient support apparatus 30 may comprise a stretcher, cot, table,chair, wheelchair, or similar apparatus utilized in the care of apatient.

A support structure 32 provides support for the patient. The supportstructure 32 illustrated in FIGS. 1A and 1B comprises a base 34 and anintermediate frame 36. The intermediate frame 36 is spaced above thebase 34. The support structure 32 also comprises a patient support deck38 disposed on the intermediate frame 36. Referring specifically to FIG.1B, the patient support deck 38 comprises several sections, some ofwhich are pivotable relative to the intermediate frame 36, such as afowler section 40, a seat section 42, a thigh section 44, and a footsection 46. The patient support deck 38 provides a patient supportsurface 48 upon which the patient is supported.

Referring to FIG. 1A, a mattress 50 is disposed on the patient supportdeck 38. The mattress 50 comprises a secondary patient support surface52 upon which the patient is supported. The base 34, intermediate frame36, patient support deck 38, and patient support surfaces 48, 52 eachhave a head end and a foot end corresponding to the designated placementof the patient's head and feet on the patient support apparatus 30. Theconstruction of the support structure 32 may take on any known orconventional design, and is not limited to that specifically set forthabove. In addition, the mattress 50 may be omitted in certainembodiments, such that the patient rests directly on the patient supportsurface 48 (see FIG. 1B).

Side rails 54, 56, 58, 60 are supported by the base 34. A first siderail 54 is positioned at a right head end of the intermediate frame 36.A second side rail 56 is positioned at a right foot end of theintermediate frame 36. A third side rail 58 is positioned at a left headend of the intermediate frame 36. A fourth side rail 60 is positioned ata left foot end of the intermediate frame 36. If the patient supportapparatus 30 is a stretcher or a cot, there may be fewer side rails. Theside rails 54, 56, 58, 60 are movable between a raised position in whichthey block ingress and egress into and out of the patient supportapparatus 30, and a lowered position in which they are not an obstacleto such ingress and egress. The side rails 54, 56, 58, 60 may also bemovable to one or more intermediate positions between the raisedposition and the lowered position. In still other configurations, thepatient support apparatus 30 may not comprise any side rails.

A headboard 62 and a footboard 64 are coupled to the intermediate frame36. In other embodiments, when the headboard 62 and footboard 64 areincluded, the headboard 62 and footboard 64 may be coupled to otherlocations on the patient support apparatus 30, such as the base 34. Instill other embodiments, the patient support apparatus 30 does notinclude the headboard 62 and/or the footboard 64.

Caregiver interfaces 66, such as handles, are shown integrated into thefootboard 64 to facilitate movement of the patient support apparatus 30over floor surfaces. Additional caregiver interfaces 66 may beintegrated into the headboard 62 and/or other components of the patientsupport apparatus 30. The caregiver interfaces 66 are graspable by thecaregiver to manipulate the patient support apparatus 30 for movement.

Other forms of the caregiver interface 66 are also contemplated. Thecaregiver interface 66 may comprise one or more handles coupled to theintermediate frame 36. The caregiver interface 66 may simply be asurface on the patient support apparatus 30 upon which the caregiverlogically applies force to cause movement of the patient supportapparatus 30 in one or more directions, also referred to as a pushlocation. This may comprise one or more surfaces on the intermediateframe 36 or base 34. This could also comprise one or more surfaces on oradjacent to the headboard 62, footboard 64, and/or side rails 54, 56,58, 60. In other embodiments, the caregiver interface 66 may compriseseparate handles for each hand of the caregiver. For example, thecaregiver interface 66 may comprise two handles.

The patient support apparatus 30 may include a powered wheel assembly68. Referring to FIG. 2, the powered wheel assembly 68 may comprise awheel 70 and a wheel motor 72. The wheel motor 72 may be located insideof wheel 70 and is configured to cause wheel 70 to rotate about agenerally horizontal rotational axis 74. Wheel motor 72 receives itscommands and/or electrical power through a pair of cables 76 thatconnect thereto. Wheel motor 72 rotates wheel 70 about the rotationalaxis 74. In the embodiment shown, each wheel 70 comprises acorresponding wheel motor 72. The powered wheel assemblies 68 arecoupled to the base 34 to facilitate transport over the floor surfaces.The powered wheel assemblies 68 are arranged in each of four quadrantsof the base 34 adjacent to corners of the base 34. In the embodimentshown, the powered wheel assemblies 68 are able to rotate and swivelrelative to the base 34 during transport. It should be understood thatvarious configurations of the powered wheel assemblies 68 arecontemplated. In addition, in some embodiments, wheels that are notpowered may be used, and these wheels may be caster wheels,non-steerable, steerable, or combinations thereof. Additional wheels arealso contemplated. For example, the patient support apparatus 30 maycomprise four non-powered, non-steerable wheels, along with one or morepowered wheel assemblies 68. In some cases, the patient supportapparatus 30 may not include any wheels. Alternatively still, one ormore auxiliary wheels (powered or non-powered), which are movablebetween stowed positions and deployed positions, may be coupled to thebase 34. A fifth wheel may also be arranged substantially in a center ofthe base 34.

In another embodiment, referring to FIG. 3, the patient support systemPS may include a chair 100. The chair 100 comprises a seat 102, a backrest 104, a leg rest 106, arm rests 108, and wheels 110. The seat 102,the back rest 104, and the leg rest 106 cooperate to define the patientsupport surface 111. The chair 100 is constructed such that both heightand tilt of seat 102 is adjustable. Furthermore, chair 100 isconstructed such that back rest 104 is pivotable between a generallyupright position and a rearwardly reclined position. Leg rest 106 isconstructed such that it is able to be moved between a retractedposition and an extended position. Arm rests 108 may be constructed suchthat a user can raise and lower their height relative to seat 102.Several manners in which chair 100 may be constructed in order to carryout these various motions of the seat 102, back rest 104, and leg rest106 are contemplated. Of course, various configurations of the seat 102,back rest 104, leg rest 106, arm rests 108, and wheels 110 arecontemplated.

Referring to FIGS. 4A-4F, the chair 100 can be moved to six differentconfigurations, including a Trendelenburg state (FIG. 4A), a flat state(FIG. 4B), a recline state (FIG. 4C), a second upright state (4D), afirst upright state (FIG. 4E), and a stand state (FIG. 4F). In each ofthose states, the relative position of each of the seat 102, the backrest 104, and/or the leg rest 106 may be different relative to thefloor.

Referring to FIG. 5, the patient support system PS may comprise one ormore actuatable devices 200, each configured to perform one or morepredetermined functions. Each of these actuatable devices 200 includingone or more actuators 202. As such, each actuatable device 200 maycomprise two or more actuators 202. In certain embodiments, the actuator202 is a variable rate actuator 202 that is capable of operating atdifferent rates of operation depending on the current and/or voltageapplied to the actuator 202. In other words, the actuators 202 are of atype that their rate of operation can be controlled by changing acharacteristic of the electrical signal provided to the actuator 202.

The type of actuator 202 that can be used is also not particularlylimited. The actuator 202 should be broadly understood as a type ofmotor or device that is capable of moving or controlling a mechanism ora system. While the described embodiments are electric actuators andpumps, it should be understood that any type of actuator could also beused in certain applications. As such, actuator 202 refers toelectrical, hydraulic, or pneumatic actuators. Thus, actuator 202comprises actuators 202 that cause linear or rotational movement, thatcause movement of a fluid, and the like. For example, the actuator 202may comprise a rotary actuator, etc.

The types of actuatable devices 200 are not particularly limited, andmay comprise any device or system that comprises one or more actuators202. In certain embodiments, the actuatable device 200 is one that, whenactuated, results in a change of position of one or more patient supportsurfaces 48, 52, 111 of the patient support system PS. This change inposition of one or more patient support surfaces 48, 52, 111, when thepatient occupies the patient support system PS, results in a change inthe position of one or more portions of the patient's body. Thus, bycontrolling the rate of operation of the actuatable device 200, the ratethat the patient changes positions can also be controlled.

More specifically, in situations where a patient occupies the patientsupport system PS, i.e., contacts one or more support surfaces 48, 52,111, operation of each of the actuatable devices 200 results in movementof one or more portions of the patient P in one or more dimensionsrelative to a static surface, such as relative to a floor of a hospital.Examples of such movement include, but are not limited to: forward andreverse movement of the patient by virtue of movement of the patientsupport system PS along a floor; raising and lowering movement of thepatient by virtue of movement of the patient support system PS upwardand downwards relative to the floor; angular movement by virtue ofchanging the angle of at least a portion of the patient support systemPS relative to a floor; rotation of the patient along a longitudinalaxis of the patient support system PS (while the patient supportapparatus 30 remains stationary relative to the floor); or variouscombinations of those types of movement.

Referring to FIG. 6, without being limited, the actuatable devices 200that results in the change of the position of one or more patientsupport surfaces 48, 52, 111 of the patient support system PS maycomprise a coordinated motion device 204, a patient raising device 206,a patient turning device 208, a patient centering device 210, a patientingress/egress device 212, a lift device 214, a fowler adjustment device216, a gatch adjustment device 218, and a transport device 220.

It is also contemplated that the actuatable device 200 may be of thetype that does not result in a change of position, orientation, and/orelevation of the patient support surface 48, 52, 111. These‘non-position actuatable devices’ may comprise, but are not limited to,patient comfort devices, such as entertainment devices, lightingdevices, a temperature device, a humidity device, and aromatherapydevices, and patient therapy devices, such as vibration therapy devices,percussion therapy devices, compression therapy devices, patient warmingdevices, and electrical stimulation devices. The rate of operation ofthese non-position actuatable devices can also be controlled by changingthe frequency, tempo, rate of temperature change, rate of humiditychange, intensity of therapy, etc. of the devices.

A controller 222 is provided to control operation of the actuatabledevices 204-220. The controller 222 comprises one or moremicroprocessors for processing instructions or for processing analgorithm stored in memory 224 to control operation of the actuatabledevices 204-220. Additionally or alternatively, the controller 222 maycomprise one or more microcontrollers, field programmable gate arrays,systems on a chip, discrete circuitry, and/or other suitable hardware,software, or firmware that is capable of carrying out the functionsdescribed herein. The controller 222 may be carried on-board the patientsupport system PS, or may be remotely located. In one embodiment, asshown in FIG. 1A, the controller 222 is mounted to the base 34 of thepatient support apparatus 30. The controller 222 may comprise one ormore subcontrollers configured to control all the actuatable devices204-220 or one or more subcontrollers for each of the actuatable devices204-220. Furthermore, two or more of the actuatable devices 204-220 mayutilize the same controller 222, or sub-controller. Thus, multiplecontrollers 220 and/or or sub-controllers, may be configured tocollectively control all of the actuatable devices 204-220.

Power to the actuatable devices 204-220 and/or the controller 222 may beprovided by a power source 226, such as a battery power supply or anexternal power source. By virtue of the power source 226 being coupledto the actuatable devices 204-220, the actuator 202 is coupled to thepower source 226. The power source 226 may provide direct current oralternating current.

The controller 222 controls the rate of operation of the actuator 202,and accordingly, changes the rate of operation of the actuatable devices204-220 to which the actuators 202 are coupled. In configurations wherethe power source 226 is a direct current power source, the controller222 may be coupled to the power source 226 and be configured to providea pulse width modulation signal. The application of the pulse-widthmodulation signal to the power source 226 may be used to control theeffective voltage supplied by the power source 226 to the actuators 202.In such a configuration, by controlling the effective voltage suppliedto the actuators 202, the controller 222 may control the rate ofoperation of the actuators 202. The voltage and/or current may also beregulated using other available techniques, and the controller 222 mayutilize these other techniques to control the rate of operation of theactuators 202.

In configurations where the power source 226 is an alternating currentpower source, the controller 222 may be coupled to the alternatingcurrent power source 226 and further configured to control the amplitudeand/or frequency of the alternating current provided to the actuators202. Thus, by controlling the amplitude and/or frequency of thealternating current supplied to the actuators 202, the controller 222may control the rate of operation of the actuators 202.

For those actuators 202 that are coupled to actuatable devices 204-220that, when actuated, cause a change in position or orientation of one ormore patient support surfaces 48, 52, 111, the controller 222 maycontrol the rate at which the patient support surfaces 48, 52, 111 aremoved. When the patient is disposed on the patient support surfaces 48,52, 111, the controller 222 may effectively control the rate at whichthe patient is moved by controlling the rate of operation of theassociated actuator 202. Thus, the controller 222 may control the rateat which various portions of the patient's body move relative to asurface, such as a floor of the hospital. The rate of patient movementcan refer to different types of movement including, but not limited to,the rate at which the patient is raised or lowered relative to the floorof the hospital; the rate at which the patient is angularly moved ortilted relative to the floor; the rate at which the patient istransported relative to the floor; or the rate at which the patient isrotated relative to a longitudinal axis of the patient support apparatus30.

The controller 222 may utilize a look-up table or other suitablealgorithm to determine the appropriate voltage or current to be suppliedto each of the actuators 202 based on the desired rate at which theactuatable devices 204-220 should be adjusted. This information may bedetermined with mathematical modelling or using empirical data.

It should be appreciated that in situations where the actuators 202 arekinematically dissimilar from one another, the application of equalvoltages to those actuators 202 would result in different types ormagnitudes of motion. Therefore, the amount of voltage supplied to anyof the actuators 202 generally differ even if the rate of operation forthose actuators 202 is desired to be the same. The different voltagescompensate for the kinematic dissimilarity of the actuators 202. Forexample, for linear actuators in actuatable devices 204-220 that havekinematically dissimilar configurations, for the same voltage, thepistons for those linear actuators 202 would necessarily extend (orretract) at different rates. Of course, it should be understood that thevoltages supplied to various actuators 202 are described above as beingdifferent from each other “in general” in recognition of the realitythat the voltages, although unequal and independent, may be momentarilynumerically equal. Similarly, certain combinations of a prescribedchange in elevation and a prescribed change in angular orientation mayresult in voltages that, although independent of each other, are, bychance, numerically equal for a sustained period of time. However ingeneral most combinations of prescribed elevation change and prescribedangular orientation change will require numerically unequal voltages.

The controller 222 is coupled to the actuatable devices 204-220 in amanner that allows the controller 222 to control a rate of operation ofthe actuatable devices 204-220. The controller 222 may communicate withthe actuatable devices 204-220 via wired or wireless connections. Thecontroller 222 generates and transmits control signals to the actuatabledevices 204-220, or components thereof, to cause the actuatable devices204-220 to perform one of more of the desired functions. It should beappreciated that because the actuatable devices 204-220 comprise theactuators 202, the controller 222 essentially controls the actuators 202included in each of the actuatable devices 204-220. Accordingly, itshould be appreciated that any mention of the rate of operation of theactuators 202 and the actuatable devices 200 are interchangeable withone another, as the rate of operation of the actuator 202 isproportioned to the rate of operation for the associated actuatabledevice 200.

Furthermore, in some embodiments, the controller 222 may monitor acurrent state of the actuatable devices 204-220 and determine desiredstates in which the actuatable devices 204-220 should be placed. Thestate of the actuatable device 204-220 may be a position, a relativeposition, a pressure, an intensity, a frequency, an amplitude, a period,an angle, an energization status (e.g., on/off), or any other parameterof the actuatable device 204-220.

Referring again to FIG. 6, the patient support system PS may compriseuser input devices 228. The caregiver, or other user, may actuate one ofthe user input devices 228, which transmits a corresponding user inputsignal to the controller 222, and the controller 222 controls operationof the actuatable devices 204-220 based on the user input signal.Operation of the actuatable devices 204-220 may continue until thecaregiver discontinues actuation of the user input device 228, e.g.,until the user input signal is terminated. In other words, depending onwhich user input device 228 is engaged, i.e., what user input signal isreceived by the controller 222, the controller 222 controls operation ofone of the actuatable devices 204-220.

The user input devices 228 may comprise devices capable of beingactuated by a user, such as the caregiver or the patient. The user inputdevices 228 may be configured to be actuated in a variety of differentways, including but not limited to, mechanical actuation (hand, foot,finger, etc.), hands-free actuation (voice, foot, etc.), and the like.Each user input device 228 may comprise a button, a gesture sensingdevice for monitoring motion of hands, feet, or other body parts of thecaregiver (such as through a camera, e.g., an optical or thermalcamera), a microphone for receiving voice activation commands, a footpedal, and a sensor (e.g., a pressure sensor, an infrared sensor such asa light bar or light beam to sense a user's body part, ultrasonicsensor, etc.). Additionally, the buttons/pedals can be physicalbuttons/pedals or virtually implemented buttons/pedals such as throughoptical projection or on a touchscreen. The buttons/pedals may also bemechanically connected or drive-by-wire type buttons/pedals where a userapplied force actuates a sensor, such as a switch or potentiometer.

Referring again to FIG. 1A, it should be appreciated that anycombination of user input devices 228 may also be utilized for any ofthe actuatable devices 204-220. For example, user input devices 228 maybe located on one of the side rails 54, 56, 58, 60, the headboard 62,the footboard 64, or other suitable locations. Further, the user inputdevices 228 may also be located on a portable electronic device (e.g.,iWatch®, iPhone®, iPad®, or similar electronic devices), as shown inFIG. 1A.

In the embodiment shown in FIG. 1A and FIG. 7, the patient supportapparatus 30 comprises a patient control panel PCP that comprisesnumerous user input devices 228 in the form of buttons B1-B12 and anurse control panel NCP that comprises numerous input devices 228 in theform of buttons B1-B12. The buttons B1-B12 may be mechanical pressbuttons, virtual buttons on a touch screen, and the like. While buttonshave been shown in the illustrated example, any of the aforementioneduser input devices 228 may be used to control the actuatable devices204-220. Furthermore, as should be appreciated, the patient supportapparatus 30 may comprise any number of actuatable devices and thecorresponding number of user input devices.

The nurse control panel NCP may be coupled to the patient supportapparatus 30 such that the nurse control panel NCP is out of reach ofthe patient when the patient is disposed on the patient support surfaces48, 52. On the other hand, the patient control panel PCP may be coupledto the patient support apparatus 30 such that the patient control panelPCP is within reach of the patient when the patient is disposed on thepatient support surface 48, 52. Of course, the precise locations of thenurse control panel NCP and patient control panel PCP are notparticularly limited.

In certain embodiments, the patient control panel PCP may comprisedifferent user input devices 228 than the nurse control panel NCP. Forexample, in one exemplary embodiment, the nurse control panel NCPcomprises rate selector buttons B13, B14, B15, whereas the patientcontrol panel PCP does not comprise the rate selector buttons B13, B14,B15. In other words, the nurse control panel NCP may allow the caregiverto control more rates of operation for more actuatable devices 204-220than the patient control panel PCP. For example, the patient controlpanel PCP may provide user input devices 228 that allows adjustment ofthe fowler adjustment device 216, but not the lift device 214.Alternatively, in certain embodiments, both the nurse control panel NCPand the patient control panel PCP both comprise the rate selectorbuttons B13, B14, B15.

Each of the buttons B1-B12 controls different predetermined functions ofone or more of the actuatable devices 204-220. The button B1, uponactuation, causes the controller 222 to energize the patient raisingdevice 206 to raise the patient six inches toward the head end of thepatient support deck 38 (as may be needed when the patient is in aslouched position). The button B2, upon actuation, causes the controller222 to energize the patient raising device 206 to raise the patienteight inches toward the head end of the patient support deck 38 (as maybe needed when the patient is in a slouched position and six inches ofraising is not enough). The button B3, upon actuation, causes thecontroller 222 to energize the patient centering device 210 to laterallyurge the patient towards a longitudinal centerline of the mattress 50.The buttons B4 and B5, upon actuation, cause the controller 222 toenergize the patient turning device 208 to turn the patient on one sideor another, respectively. The buttons B7 and B8 upon actuation, causethe controller 222 to energize the lift device 214 to lift or lower thepatient support surfaces 48, 52 relative to the floor surface. Thebuttons B9, B10, upon actuation, cause the controller 222 to energizethe fowler adjustment device 216 to adjust a position of the fowlersection 40 of the patient support deck 38 relative to the floor surface.The buttons B11, B12, upon actuation, cause the controller 222 toenergize the gatch adjustment device 218 to adjust the position of thefoot section 46 and thigh section 44 relative to the floor. Referringnow to FIG. 1A, the buttons, B16, coupled to caregiver interface 66,upon actuation, cause the controller 222 to energize the transportdevice 220 to move the patient support apparatus 30 across the floor.

In order for the caregiver to continue operating one of the actuatabledevices 204-220 to perform the desired function using one of the buttonsB1-B12 (or other user input devices 228), the caregiver may be requiredto continue actuating (e.g., continue depressing or continue touching)the buttons B1-B12 until the caregiver is satisfied with the adjustmentthat was made to the actuatable device 204-220. Other user input devices228 can be continually actuated in other ways, depending on their modeof actuation. For instance, an infrared sensor that generates a lightbeam can be continually actuated by continually breaking the light beam.Similarly, a gesture sensing device can be continually actuated bycontinually sensing an actuating gesture.

In certain embodiments described herein, the user input devices 228 areconfigured to also enable continued operation (i.e., energization) ofthe actuatable devices 204-220, even after the caregiver ceases toactuate the user input device 228, e.g., after the caregiver ceases todepress or touch one of the buttons B1-B12, for a predetermined periodof time, or until the desired adjustment is complete.

The patient support apparatus 30 may further comprise user input devices228 associated with designation of one or more operational modes. Theseoperational modes may designate a predetermined set of rates ofoperation for one or more of the actuatable devices 204-220. In theillustrated embodiment, button B17 designates a patient mode; B18designates a cleaning mode; B19 designates a transport mode; B29designates a CPR mode; B30 designates an empty mode; and B31 designatesan automatic mode. Of course, the number of modes are not particularlylimited, and the exemplary modes described above are provided merely forillustration.

The patient mode may include rates of operation for one or moreactuatable devices 204-220 that are generally suitable for when apatient is disposed on the patient support surfaces 48, 52. The patientmode may be the default rate of operation for each of the actuatabledevices 204-220. The cleaning mode may include rates of operation forone or more actuatable devices 204-220 that are optimal to quickly placethe patient support surfaces 48, 52 in a position suitable for cleaning.The transport mode may include rates of operation for one or moreactuatable devices 204-220 that are suitable for movement of the patientsupport system PS across long distances. The CPR mode corresponds torates of operation that are suitable to quickly place the patientsupport apparatus 30 and the corresponding actuatable devices 204-220 ina condition that allows CPR resuscitation of the patient. The empty modecorresponds to rates of operation that are suitable when no patient isadjacent to the patient support surfaces 48, 52. The automatic modecorresponds to a configuration of the controller 222 where thecontroller 222 automatically determines a rate of operation suitable forthe actuatable device 204-220 based on the patient condition 236 and/orthe patient presence (as described below). Of course, it should beappreciated that various other operational modes may be utilized, andthus, additional user input devices 228 associated with theseoperational modes are contemplated.

In some embodiments, referring to FIG. 7, the user input devices 228comprise a voice actuation interface 230 in communication with thecontroller 222. The voice actuation interface 230 may comprise amicrophone 231 in communication with the controller 222 to receive voiceactivation commands from the caregiver. The voice activation commandsmay be associated with functions of the actuatable devices 204-220 inthe same manner as buttons B1-B12. The controller 222 is configured tocontrol the rate of operation of actuatable devices 204-220 based on thevoice activation commands. For example, if the caregiver wishes to tiltthe fowler section 40 upwards at a FAST rate of operation, the caregiververbally commands “FOWLER UP”, “FAST”, in the vicinity of the voiceactivation interface 230. Similarly, if the caregiver wishes to stop themovement of the fowler section 40, the caregiver verbally commands“FOWLER”, “STOP” Of course, the voice actuation interface 230 may beresponsive to voice commands issued by the patient.

The controller 222 may be further configured to change the rate ofoperation of actuatable devices 204-220 already in motion based on thevoice commands received from the voice actuation interface 230. Forexample, if the fowler adjustment device 216 is tilting upwards at theFAST rate of operation, and the caregiver verbally commands “SLOWER” inthe vicinity of the voice actuation interface 230, the controller 222decreases the rate of operation of the fowler adjustment device 216relative to the current rate of operation. Similarly, if the fowlersection 40 is tilting upwards at the SLOW rate of operation, and thecaregiver verbally commands “FASTER” in the vicinity of the voiceactuation interface 230, the controller 222 increases the rate ofoperation of the fowler adjustment device 216 relative to the currentrate of operation. The measure at which the rate of operation isincreased or decreased is not particularly limited, and may be apredetermined interval configured specifically for each of theactuatable devices 204-220, such as 1, 2, 3, or 4 centimeter/s second.

Of course, the controller 222 may also be responsive to voice commandsthat directly indicate the rate of operation desired for each actuatabledevice 204-220. Thus, in one example, the caregiver commands “LIFTDEVICE DOWN”, “1 CENTIMETER PER SECOND”, and the controller 222 controlsthe lift device 214 at the rate of operation of 1 centimeter per second.Of course, such direct rate of operation commands may be differentdepending on the type of motion produced by the actuatable device204-220.

In the illustrated example, the voice actuation interface 230 comprisesa voice activation enabling device B20 to enable usage of the voiceactuation interface 230. The voice activation enabling device B20 is incommunication with the controller 222. The voice activation enablingdevice B20 may comprise different types of user input devices 228described above. The voice activation enabling device B20 may be locatedanywhere on the patient support apparatus 30 or remote from the patientsupport apparatus 30. However, the voice activation enabling device B20could be mounted in other suitable locations, such as the base 34, theintermediate frame 36, the side rails 54, 56, 58, 60, the headboard 62,the footboard 64, or other suitable locations. The voice activationenabling device B20 may also be located on a portable electronic device.

The voice activation enabling device B20 is actuated by the caregiver toenable voice activation commands to cause the controller 222 to transmitvarious output signals to the actuatable devices 204-220. In someembodiments, if the voice activation enabling device B20 is not actuatedbefore voice activation commands are made, the controller 222 will notrespond to the voice activation commands. Actuation of the voiceactivation enabling device B20 enables the voice activation interface230 to provide the user input signal to the controller 222 to controlone or more of the actuatable devices 204-220.

In certain embodiments, the patient support system PS further comprisesan identification device 232 (See FIG. 1A). The identification device232 is in communication with the controller 222. The identificationdevice 232 is configured to identify a role of a person near the patientsupport system PS. The controller 222 may be configured to enable ordisable certain user input devices 228 based on the role of the personidentified by the identification device 232, such as buttons B17-B19corresponding to the operational modes. In addition, the controller 222may be configured to automatically select one of the operational modesbased on the role of the person identified by the identification device232. The identification device 232 may comprise an identifier, such asan RFID tag/badge, or other type of identifier capable of communicationwith the controller 222, such as an RFID reader on the patient supportapparatus 30. In addition, the controller 222 may automatically enablethe voice actuation interface 230 when the identification device 232identifies that the role of the person adjacent to the patient supportsystem PS should be authorized to issue voice commands to the patientsupport system PS.

With respect to the patient support system PS shown in FIG. 3, and withreference to FIG. 8, the chair 100 may comprise a chair control panelCCP. The chair control panel CCP comprises user input devices 228. Forinstance, the chair control panel CCP comprises button B21 correspondingto a standing state of the chair 100 (FIG. 4F); button B22 correspondingto a first upright state of the chair 100 (FIG. 4E); button B23corresponding to a second upright state (FIG. 4D); button B24corresponding to a recline state (FIG. 4C); button B25 corresponding toa flat state (FIG. 4B); button B26 corresponding to a Trendelenburgstate (FIG. 4A); button B27 corresponding to a lift up control; andbutton B28 corresponding to a lift down control.

Referring to FIG. 6, in some embodiments, the controller 222 isconfigured to control the rate of operation of the actuators 202 basedon a patient condition 234. The patient condition 234 may be determinedby the controller 222 based on patient-related information. Thepatient-related information may be information obtained from anelectronic medical record (EMR) 238, obtained from a sensing system 236,or obtained from a caregiver input using the user input device 228.

In embodiments where the patient-related information is obtained fromthe EMR 238, the EMR 238 may be copied and stored locally on the memory224, or may stored on a network to which the controller 222 is coupled.

Referring to FIG. 9, the patient-related information may comprisemedical procedure data, patient characteristic data, caregiverobservation data, medication data, prior injury data, or combinationsthereof. The medical procedure data may comprise a type of medicalprocedure, a duration since last medical procedure, a duration sinceadmittance or combinations thereof. The patient characteristic datacomprises height, width, pathology, race, age, weight, body mass index,activity level, movement history, fall risk (as based on a Morse FallScale Score) or combinations thereof. The caregiver observation datacomprises psychological data, phobia data, pain level data, nausea leveldata, pain sensitivity data, or combinations thereof. In one specificembodiment, the patient-related information comprises a skin injuryprofile based on sensory perception, moisture, activity levels,nutrition, friction, shear, or combinations thereof. The patientcondition may correspond to one or more diagnosis-related group (DRG).Of course, the type of patient-related information is not particularlylimited, and may comprise any information about the patient that mayaffect their medical treatment or sensitivity to movement and motion,such as changes in position.

In certain embodiments, the patient condition 234 may be entered by thecaregiver using the user input devices 228 described above, rather thanbeing determined from the EMR 238. This allows the caregiver to includeadditional patient-related information at the time of controlling thepatient support system PS. For example, the caregiver may enter thepatient-related information using the voice actuation interface 230described above by stating the command “PATIENT IS NAUSEOUS”. Thecontroller 222 may subsequently control the rate of operation of theactuator 202 in a manner that is suitable for a nauseous patient.Similarly, the caregiver may enter the patient-related information witha keyboard, touch-screen, or other suitable user-input device that is incommunication with the controller 222. The type of patient-relatedinformation that can input with the user input device 228 is notparticularly limited.

As described above, the patient condition 234 may be based onpatient-related information obtained by a sensing system 236. Thesensing system 236 is in communication with the controller 222, as shownin FIG. 6. Additionally, the sensing system 236 may be used by thecontroller 222 for various purposes.

Referring to FIG. 9, the sensing system 236 comprises one or morepatient condition sensors 240. The patient condition sensor 240 isconfigured to sense a patient condition of the patient disposed on thepatient support surfaces 48, 52, 111. The patient condition sensor 240provides a patient condition input signal to the controller 222, whichcomprises patient-related information. In one example, the patientcondition sensor 240 comprises a patient physiological sensor. The typeof patient physiological sensor is not particularly limited, and maycomprise a heart rate sensor (such as an electrocardiography sensor), apatient temperature sensor, a load cell, a blood pressure sensor, apatient shear sensor, a camera (optical or thermal), a patient moisturesensor, a neurological sensor (such as an electroencephalographysensor), a breathing monitor, a patient expression sensor, an acousticsensor, or combinations thereof.

The patient physiological sensor may be used to determine a variety ofphysiological conditions such as a patient's heart rate, breathing data,patient's temperature, blood pressure, whether the patient is sleeping,the patient is coughing, etc. The controller 222 may utilize this sensedphysiological data instead or, or in addition to, the patient condition234 obtained from the EMR 238 or the patient condition 234 inputted bythe caregiver with the user input devices 228.

The one or more patient condition sensors 240, especially the patientphysiological sensors, can be coupled directly to various parts of thepatient's body including, but not limited to, the patient's head, chest,arm, wrist, leg, stomach, foot, neck, back, and other suitable locationsfor sensing of the patient's physiological conditions. As shown in FIG.1A, the patient condition sensor 240 is a pulse oximeter coupled to thepatient's finger. Alternatively, the patient condition sensor 240 may belocated on or in the base 34, the intermediate frame 36, the patientsupport deck 38, the mattress 50, the side rails 54, 56, 58, 60, theheadboard 62, the footboard 64, the back rest 104, the leg rest 106, theseat 102, or the arm rests 108 or other suitable locations as describedfurther below, so long as the patient condition sensor 240 can determinethe patient's physiological condition.

In embodiments where the patient condition sensor 240 comprises theacoustic sensor, the controller 222 may be configured to recognizecertain sounds as corresponding to certain patient-related information.Thus, if the patient grunts, cries, groans, or otherwise audiblyexpresses themselves, the controller 222, with the acoustic sensor, canrecognize these sounds, or pattern of sounds, as indicating the patientcondition 234. In one example, if the patient is crying, the acousticsensor can send a signal to the controller 222 indicative of the crying,and the controller 222 can recognize the input signal as indicative thatthe patient is crying. The controller 222 can correlate certain types ofaudible sounds as indicative of the pain level of the patient, andsubsequently control the rate of operation for the actuatable devices204-220 based on that pain level. Thus, if the patient is crying, thecontroller 222 may control the actuatable devices 204-220 with the SLOWrate of operation. Of course, the types of sounds recognizable by thecontroller 222 is not particularly limited. Of course, the controller222 recognize patient-related information based on the decibels of thesounds made by the patient. Furthermore, it is contemplated that thecontroller 222 may control the rate of operation of the actuatabledevices 204-220 based on the pain level in combination with other typesof patient-related information, such as the heart rate.

In embodiments where patient condition sensor 240 comprises a forcesensor, the force sensor may be coupled to one or more portions of thepatient support apparatus 30, such as top of the side rails 54 and 56.More specifically, the force sensor may be coupled to one or more grips(not shown) provided by the side rails 54, 56, 58, 60. In situationswhere the patient grasps one or more of the grips provided by the siderails 54, 56, 58, 60, and thus engages the force sensor coupled to thegrips, the controller 222 can recognize the force applied to the gripsas indicating the patient condition 234. The controller 222 cancorrelate certain forces applied to the grips of the side rails 54, 56,58, 60 as indicative of the pain level of the patient, and subsequentlycontrol the rate of operation for the actuatable devices 204-220 basedon that pain level. In such an embodiment, the controller 222 mayutilize a look-up table to compare expected forces with actual forces todetermine what actual forces correspond to various patient conditions234. Furthermore, it is contemplated that the controller 222 may controlthe rate of operation of the actuatable devices 204-220 based on thepain level in combination with other types of patient-relatedinformation, such as the heart rate. Of course, the location andposition of the force sensors are not particularly limited, and may bemounted to any portion of the patient support apparatus 30 that apatient would be expected to apply a force when stressed or in pain. Inone exemplary configuration, if the patient is exhibiting a first forceon the grip of the side rail 54 that is indicative that the patient ishighly stressed, the controller 222 may automatically select a rate ofoperation for the actuatable devices 204-220 that is suitable to move apatient that is highly-stressed.

In certain embodiments, the sensing system 236 may comprise a patientpresence sensor 241. The patient presence sensor 241 may be configuredto determine whether the patient is disposed adjacent to one of thepatient support surfaces 48, 52, 111, and provide a patient presenceinput signal to the controller 222.

The type of patient presence sensor 241 is not particularly limited andmay comprise a force sensor (such as a load cell), a weight sensor, anoptical sensor, an electromagnetic sensor, an accelerometer, motionsensors, infrared sensors, membrane switches, cameras (optical orthermal), a potentiometer, an ultrasonic sensor, or combinationsthereof.

The patient presence sensor 241 may further be configured to determine aposition of various portions of the patient as it relates to currentpositions of the patient relative to various portions of the patientsupport system PS (e.g., the patient is slouched, the patient is offcenter, the patient is lying supine, the patient is getting ready toexit, the patient is sitting up, etc.).

Referring to FIG. 1A, the patient presence sensor 241 is shown coupledto each of the side rails 54, 56, 58, 60, and footboard 64. The patientpresence sensor 241 may monitor thresholds or discrete point movements.The patient presence sensors 241 can be located anywhere on the patientsupport system PS or remote from the patient support system PS.Referring to FIG. 3, the patient presence sensor 241 is shown coupled tothe back rest 104, the seat 102 and the leg rest 106. However, thepatient presence sensor 241 may be located in any suitable location, inor on the base 34, the intermediate frame 36, the patient support deck38, the mattress 50, the side rails 54, 56, 58, 60, the headboard 62,the footboard 64, the back rest 104, the leg rest 106, the seat 102, thearm rests 108, or other suitable locations.

In one embodiment, as shown in FIG. 3, the patient presence sensor 241comprises load cells to measure whether a load is applied to the patientsupport surface 111. Alternatively, with reference to FIG. 1A, thepatient presence sensor 241 comprises an infrared sensor configured todetect whether the patient is adjacent to the patient support surfaces48, 52, without the patient actually being in contact with that supportsurface 48, 52. This non-contact patient presence sensing modality canalternatively utilize optical sensors, such as a light curtain, todetect whether the patient is positioned adjacent to the support surface48, 52. Of course, it is also contemplated to determine the presence ofthe patient adjacent to, or in contact with, the patient supportsurfaces 48, 52, 111 with alternative devices.

The sensing system 236 may further be configured to sense a currentposition of the actuator 202 and/or state of the actuatable device204-220. For example, in embodiments where the actuator 202 is a linearactuator 202, the sensing system 236 may determine whether the actuator202 is fully-extended, partially-extended, or the precise extent ofextension. The position of the actuator 202 can be determined with anencoder, or similar device. The controller 222 may utilize theseposition input signals from the sensing system 236 to determine apattern of movement of the patient support system PS. The pattern ofmovement of the patient support system PS may include a history ofmovement of the actuators 202 between various positions, or movement ofthe actuatable device 200 between one or more states.

Additionally, in some embodiments, the sensing system 236 may comprisean ambient condition sensor, such as a humidity sensor, an ambienttemperature sensor, or an acoustic sensor, in communication with thecontroller 222. Still, other types of sensors are also contemplated foruse with sensing system 236.

Patient-related information from the sensing system 236 can be stored inthe memory 224 of the controller 222 and can be used to provide ahistory log or charts for the caregiver, as well as activate alarms orother indicators to the caregiver if needed.

Referring to FIG. 6, the controller 222 may be coupled to an indicatordevice 242. The indicator device 242 may be configured to indicate tothe caregiver certain aspects of the patient condition 234 obtained fromthe patient-related information. The indicator device 242 comprises atleast one of a display, a speaker, and a light emitting device. In somecases, the indicator system 242 comprises multiple indicators. Forinstance, the indicator device 242 shown in FIG. 7 comprises a display244. The display 244 may be an LCD, LED, or other type of display. Ofcourse, the indicator device 242 may comprise a light source forindicating patient-related information to the caregiver.

The indicator device 242, as shown in FIG. 6, may be in communicationwith the controller 222 to indicate the patient condition 234 to thecaregiver. Alternatively, the controller 222 may be configured topresent information to the caregiver using the indicator device 242 whenthe controller 222 determines that the current patient condition 234requires additional operation of one of the actuatable devices 204-220.Additionally, the indicator device 242 can be configured to communicatesuggestions to the caregivers about additional operation of theactuatable devices 204-220 or provide reminders to the caregivers aboutthe proper rate of operation for one or more of the actuatable devices200. For instance, graphic or text messages may be presented to thecaregiver with the indicator device 242 that the patient is sensitive tochanges in position.

The indicator device 242 can be located anywhere on the patient supportsystem PS that is suitable to indicate information to the caregiver. Theindicator device 242 may also be located remote from the patient supportsystem PS, such as on a portable electronic device, nurse's station, orother location. In FIG. 1A, the display 244 shows that the currentpatient condition 234 is “neck injury”, e.g., the patient condition 234indicates that the patient was admitted for a neck injury.

In a first embodiment, the controller 222 controls the rate of operationof the actuators 202 based on the user input signal received. Thecontroller 222 may determine the user-selected rate of operation basedon the user input signal provided to the controller 222. Thus, throughactuation of the rate selector buttons B13-B15 (or other suitable userinput device 228), the controller 222 determines that the user desiresto control the rate of operation of the actuator 202 and, subsequently,the controller 222 transmits the appropriate output signal to theactuators 202 to the one or more actuatable devices 204-220. Theuser-selected rate of operation should be understood to refer to anyrate of operation that was selected by the user of the patient supportsystem PS.

The user input device 228 may allow the caregiver to directly select therate of operation for the actuatable device 204-220 in various manners,and based on the corresponding user input signal, the controller 222 cancontrol the actuatable devices 200 based on the user-selected rate ofoperation. In one configuration, the controller 222 may determine auser-selected rate of operation based on actuation pattern of the userinput device 228. For example, two rapid engagements of button B10provides a user input signal that the controller 222 recognizes asindicating that a FAST rate of operation is desired by the caregiver forthe fowler adjustment device 216. The controller 222 subsequentlytransmits an output signal to the fowler adjustment device 216 thatcauses the fowler section 40 to move towards the intermediate frame 36at the FAST rate of operation. As an additional example, a singleengagement of button B1 provides a user input signal to the controller222 that the controller 222 recognizes as indicating that a SLOW rate ofoperation is desired by the caregiver for the patient raising device206, and the controller 222 subsequently transmits an output signal tothe patient raising device 206 that causes the patient raising device206 to operate at the SLOW rate of operation.

Alternatively, the user input device 228 may provide for directselection of the rate of operation by the caregiver, with a user inputdevice 228 that can be adjusted along a continuous spectrum, such as arotatable or slidable control knob or pressure sensor. Thus, if the userengages the pressure sensor with a certain force, the controller 222 canrecognize the corresponding user input signal as indicating that theuser desires a FAST rate of operation. Along the same lines, if the userengages the pressure sensor with a second force, smaller than the firstforce, the controller 222 can recognize the corresponding user inputsignal as indicating that the user desires a SLOW rate of operation.

In summary, it is contemplated that the patient support system PS maycomprise user input devices 228 capable of selecting a nearly infinitenumber of rates of operation, or a certain number of predefined rates ofoperation. While the FAST, MEDIUM, and SLOW rates of operation aredescribed throughout this disclosure, it should be appreciated that thecontroller 222 may control the rate of operation of the actuatabledevices 204-220 and the actuators 202 at an infinite number of differentrates of operation. Of course, additional predetermined rates ofoperation other than the FAST, MEDIUM, and SLOW predetermined rates ofoperation are also contemplated. In certain embodiments, once the rateselector buttons B13, B14, B15 are depressed, all actuations of any userinput device 228 with a certain period of time are controlled at theuser-selected rate of operation. Alternatively, a single press of therate selector buttons B13, B14, B15 may only control the rate ofoperation for the next user input device 228 that is actuated.

In one embodiment, the controller 222 may be configured to determine thesource of the user input signal received, and control the rate ofoperation of actuatable devices 204-220 based on that source. Forexample, the controller 222 may determine whether the user input signalwas derived from actuation of the user input device 228 on the nursecontrol panel NCP or the patient control panel PCP, and control the rateof operation of the actuatable device 204-220 based on the source ofthat user input signal. For example, if the controller 222 determinesthat the source of the user input signal is the nurse control panel NCP,the controller 222 may enable the full range of the rates of operationfor all of the actuatable devices 204-220. However, if the controller222 determines that the source of the user input signal is the patientcontrol panel PCP, the controller 222 may enable less than the fullrange of rates of operation for less than all of the actuatable devices204-220. For instance, if the controller 222 determines that the sourceof the user input signal is the patient control panel PCP and the userinput signal indicates that the rate of operation of the lift device 214is desired to be controlled such as by pressing button B7 twice, thecontroller 222 may disregard the user input signal and not allowadjustment of the rate of operation for the lift device 214.

It is also contemplated that voice activation commands can directlycontrol the rate of operation of the actuatable devices 204-220 by usingthe voice actuation interface 230. For example, if the caregiver wantsto tilt the fowler section 40 upwards at the SLOW rate of operation, theuser verbally commands “FOWLER UP”, “SLOW” in the vicinity of the voiceactivation interface 230. In response to receiving and recognizing thesevoice activation commands, the controller 222 transmits an output signalto the fowler adjustment device 216 which causes the fowler adjustmentdevice 216 to tilt the patient upward at the SLOW rate of operation.

In some embodiments, the controller 222 may be configured to perform anauthentication protocol before transmitting an output signal to theactuatable devices 204-220 based on the user input signal received fromthe one or more user input devices 228. The authentication protocol maybe based on the role of the person identified with the identificationdevice 232. Thus, once the controller 222 receives the user input signalfrom the user input device 228, the controller 222 may query theidentification device 232 to confirm that person(s) who are adjacent tothe patient support system PS are entitled to control the rate ofoperation of the actuatable devices 204-220 with the user-selected rateof operation. This can be accomplished by reading an identifier device232 and comparing the identifier to a look-up table in the memory 224that correlates the identifier to various roles.

For example, the controller 222 may be configured to only allow certainroles of person to select certain rates of operations for certainactuatable devices 204-220. Thus, the controller 222 may establishcertain permission thresholds for certain roles. The ‘NURSE’ role may beentitled to adjust the rate of operation for all actuatable devices204-220 across the full range of available rates of operation. Incontrast, the ‘ASSISTANT’ role may only be entitled to adjust the rateof operation for less than all of the actuatable devices 204-220 acrossless than the full range of available rates of operation. For example,persons associated with the ‘ASSISTANT’ role may only be entitled toadjust the rate of operation of the lift device 214 with the SLOW rateof operation. Of course, an infinite number of permission thresholds canbe set for an infinite number of roles.

Furthermore, the controller 222 may be configured to query theidentification device 232 when the controller 222 receives a user inputsignal based on the actuation of the buttons B17, B18, B19 associatedwith one or more preset operational modes, such as the PATIENT mode, theCLEANING mode, the TRANSPORT mode, or the CPR mode. The controller 222may confirm that the role of the person identified by the identificationdevice 232 corresponds to the operational mode selected by the user. Ifthe controller 222 determines that the role of the person that isadjacent to the patient support system PS is permitted to enable theoperational mode that is selected, the controller 222 may enable theoperational mode selected, and the preset rates of operation thataccompany it. However, if the controller 222 determines that the role ofthe person that is adjacent to the patient support system PS is notpermitted to enable the operational mode that is selected by the user,the controller 222 may not enable the selected operational mode. Assuch, in this embodiment, the controller 222 prevents selection of theone or more operational modes by persons who are not permitted toutilize the one or more operational modes. For example, if a useractuates button B18 to designate the CLEANING operational mode and theidentification device 232 determines that user is associated with theNURSE role, the controller 222 may not enable the CLEANING operationalmode, but may allow the controller 222 to enter the PATIENT mode.Similarly, the controller 222 may only enable the CPR operational modefor users associated with the NURSE role.

The memory 224 may store the permission thresholds for the operationalmodes. Each operational mode may correspond to a preset rate ofoperation for at least one actuatable device 204-220. The controller 222is configured to determine a desired rate of operation based on theselected operational mode. For example, the transport device 220 mayhave a preset rate of operation of FAST for the TRANSPORT mode. On theother hand, the transport device 220 may have a preset rate of operationof SLOW for the PATIENT mode. The FAST rate of operation may correspondto a rate of operation of the transport device 220 ranging from 5 to 15mph, whereas the SLOW rate of operation of the transport device 220 mayrange from 1 to 5 mph. Of course, the transport device 220 may becontrolled to perform at other rates of operation other than the rangescontemplated above for the TRANSPORT mode and the PATIENT mode.Generally, the FAST rate of operation for the transport device 220 mayallow quick movements of the patient support apparatus 30 along thefloor.

As another example, the CPR mode may have preset rate of operation ofFAST for the lift device 220, the fowler adjustment device 216, and thegatch adjustment device 218. Furthermore, the empty mode may have apreset rate of operation of FAST for more than one actuatable devices204-220, or all of the actuatable devices 204-220.

Each operational mode may be associated with a particular algorithm thatyields a suitable rate of operation based on the patient-relatedinformation. In one embodiment, the algorithm may be based on the fallrisk (such as the Morse Fall Scale Score), the weight of the patient,the age of the patient, the pain level of the patient, or combinationsthereof. Of course, different types of patient-related information maybe weighted differently in the algorithm to determine the suitable rateof operation. Furthermore, any suitable algorithm may be utilized foreach operational mode to ensure that the rate of operation for each ofthe actuatable devices 204-220 is suitable for the patient conditionand/or patient presence.

In other embodiments, the controller 222 determines the desired rate ofoperation based on a combination of the user input signal and thepatient presence input signal. This allows the controller 222 to verifywhether the patient is disposed adjacent to one or more of the patientsupport surfaces 48, 52, 111 before controlling the actuatable devices204-220 with the user-selected rate of operation. If the patient isdisposed adjacent to the one of more patient support surfaces 48, 52,111 as determined by the patient presence sensor 241, the controller 222may not allow the actuatable devices 204-220 to be controlled at a rateof operation above a predetermined rate of operation, such as above theMEDIUM or SLOW rates of operation. Similarly, if the patient is notdisposed adjacent to the one or more patient support surfaces 48, 52,111 as determined by the patient presence sensor 241, the controller 222may enable all rates of operation for one or more of the actuatabledevices 204-220. For example, if the caregiver actuates a user inputdevice 228 associated with the transport device 220 at a FAST rate ofoperation and the controller 222 determines that the patient is adjacentto the patient support surface 48, 52, 111 based on the patient presenceinput signal, the controller 222 may not send an output signal to thetransport device 220 that would cause the transport device 220 tooperate at the FAST rate of operation. Instead, the controller 222 maycause the indicator device 242 to notify a caregiver that theuser-selected rate of operation is not appropriate. Alternatively, thecontroller 222 may automatically control the transport device 220 with arate of operation that is suitable for when the patient is present, suchas the SLOW rate of operation.

By way of further example, once the patient has exited the patientsupport system PS, the caregiver or other person may wish to lower thepatient support surface 48, 52, 111 relative to the floor. Accordingly,the caregiver selects the buttons B8 or B28 to lower the patient supportsurface 48, 52, 111 and the controller 222 starts operation of the liftdevice 214. Normally, the lift device 214 operates at a single rate ofoperation despite whether the patient is positioned on the patientsupport surface 48, 52, 111 or not. However, in the disclosedembodiment, the controller 222 may determine that no patient is adjacentto the patient support surface 48, 52, 111 based on the patient presenceinput signal, and may automatically control the rate of operation of thelift device 214 with an increased rate of operation, such as the FASTrate of operation. The FAST rate of operation may be desirable in orderto increase the efficiency of certain operations, such as cleaningoperations. The SLOW rate of operation, in these circumstances, mayrequire the caregiver to wait several seconds until the lift device 214lowers the patient support surface 48, 52, 111 to a sufficient height toallow the cleaning operations. This creates unnecessary delay thatcompromises hospital efficiency.

Additionally, in embodiments where various operational modes areselectable, the controller 222 may allow or prevent the selection ofcertain operational modes depending on the patient presence inputsignal. More particularly, the controller 222 may prevent actuation ofthe cleaning mode and/or the transport mode if the patient presencesensor 241 determines that the patient is adjacent to the patientsupport surface 48, 52, 111. For example, if the controller 222determines that the patient is adjacent to the patient support surface48, 52, 111, the controller 222 may not allow operation of the patientsupport system PS in the TRANSPORT mode or CLEANING mode. Alternatively,if the controller 222 determines that the patient is not adjacent to thepatient support surfaces 48, 52, 111, the controller 222 may enable allof the operational modes.

The controller 222 may be further configured to control the rate ofoperation of the actuatable devices 204-220 based on the patientcondition 234. The controller 222 may utilize a look-up table to controlthe rate of operation based on the patient condition 234. For example,the controller 222 may query a look-up table that correlates pre-loadedpatient conditions to various rates of operation to determine thedesired rate of operation based on the patient condition 234.Alternatively, the controller 222 may utilize an algorithm to determinethe desired rate of operation for the actuator 202 and/or the actuatabledevice 204-220 based on the patient condition 234. As described above,the patient condition 234 can be obtained from the patient-relatedinformation that is present in the EMR 238, entered by the caregiverwith the user input device 228, or sensed by the patient conditionsensors 240. By depressing the button B31, corresponding to theautomatic mode, the controller 222 may thereafter operate to control therate of operation of the actuatable devices 204-220 based on the patientcondition 234. Of course, in other embodiments, the user may deactivatethe automatic mode such that the controller 222 does not control therate of operation for the actuatable devices 204-220 based on thepatient condition, but solely controls the rate of operation for theactuatable devices 204-220 based on user input signals received fromvarious user input devices 228.

In one configuration, the controller 222 receives a user input signalfrom the user input device 228 that indicates that the user desires tochange the configuration of one of the actuatable devices 204-220. Thecontroller 222, based on the patient condition 234, determines thedesired rate of operation for the actuatable device 204-220 andtransmits an output signal to that actuatable device 204-220 to controlthe actuatable device 204-220 at the desired rate of operation. Thus, insuch an embodiment, the user does not need to select a user-selectedrate of operation, as the controller 222 is configured to automaticallydetermine the desired rate of operation based on the patient condition234. Alternatively, based on the patient condition 234, the controller222 may be configured to cause the indicator device 242 to display arate of operation for the actuatable device 204-220 that would besuitable. At that point, the user may manually select the rate ofoperation based on the recommendation communicated by the indicatorsystem 242.

The controller 222 may control the rate of operation for the actuator202 and/or actuatable devices 204-220 based on the combination of theuser input signal and the patient condition 234. Thus, the controller222, upon receiving the user input signal from one or more user inputdevices 228, may query the patient condition 234 in order to determinewhether the user-selected rate of operation is suitable in light of thepatient condition 234. If the controller 222 determines that theuser-selected rate of operation is not suitable based on the patientcondition 234, the controller 222 may automatically send an outputsignal that commands the actuator 202 of the actuatable device 204-220to perform at a rate of operation that is more suitable for the patientcondition 234 than the user-selected rate of operation. Alternatively,the controller 222 may simply prevent operation of the actuator 202 ifthe user-selected rate of operation is not suitable based on the patientcondition 234. Furthermore, if the controller 222 determines that theuser-selected rate of operation is unsuitable for the patient condition234, the controller 222 may control the indicator device 242 to alertthe caregiver that the user-selected rate of operation is not suitable.Similarly, the indicator device 242 may cooperate with the controller222 to display a suitable rate of operation that is suitable for thepatient condition 234.

Referring the chart of FIG. 10, in one example, the actuatable device200 is the lift device 214. PLOT 1 shows a first rate of operation R1 ofthe lift device 214 suitable for a patient that does not requireextraordinary care, a normal patient condition. PLOT 2 shows the secondrate of operation R2 for the lift device 214 suitable for a patient thathas a moderate sensitivity to movement due to a history of skin lesions.PLOT 3 shows a third rate of operation R3 for the lift device 214suitable for a patient that has high sensitivity to movement based onextensive burns and recent skin grafts. The controller 222 is configuredto control the lift device 214 with rates R1, R2, and R3 depending onthe patient condition.

Referring to FIG. 7, in one example, the controller 222 may determinethat the caregiver wishes to raise the patient from a flat position to aposition where the patient's head is raised as indicated by thecaregiver actuating the button B9. Actuation of the button B9 transmitsthe user input signal to the controller 222. The controller 222 mayrespond by selecting or initiating operation of the fowler adjustmentdevice 216 (described in detail below). During normal operation, thefowler adjustment device 216 would raise the fowler section 40 at asingle constant rate, regardless of the patient condition 234 of thepatient positioned on the patient support surface 48, 52. The fowleradjustment device 216 would continue changing its configuration untilthe caregiver discontinues actuation of the button B9. However, based onthe patient condition 234, in response to depressing the button B9, thecontroller 222 may change the rate of operation of the fowler adjustmentdevice 216 such that rate of operation for the fowler adjustment device216 is appropriate for the patient condition 234 of the patient that isdisposed on the patient support surface 48, 52.

In the illustrated embodiment, the patient has a neck injury, and thusthe patient condition 234 reflects this neck injury. The caregiverselects button B9 associated with changing the angle of the fowlersection 40, and depresses button B13, simultaneously or subsequently.Based on the patient condition 234, i.e., the neck injury, thecontroller 222 determines that, for the fowler adjustment device 216,the rate of operation should be SLOW. Because the user-selected rate ofoperation is faster than the desired rate operation determined based onthe patient condition 234, the controller 222 determines that theuser-selected FAST rate of operation is not suitable. As such, thecontroller 222 controls the rate of operation such that the fowleradjustment device 216 instead operates at the SLOW rate operation. TheSLOW rate of operation for the fowler adjustment device 216 minimizesthe pain and/or discomfort experienced by the patient that may otherwiseresult from fast rates of operation of the fowler adjustment device 216which may disrupt the neck injury of the patient.

The controller 222 may determine the desired rate of operation based onthe user-selected rate of operation and based on the patient condition234 before transmitting the output signal to the fowler adjustmentdevice 216 to control the rate of operation for the fowler adjustmentdevice 216. If the controller 222 determines that the user-selected rateof operation is suitable based on the patient condition 234, thecontroller 222 transmits an output signal to the fowler adjustmentdevice 216 which causes the fowler adjustment device 216 to operate atthe user-selected rate of operation.

The controller 222 may be configured to prevent actuation of certainactuatable devices 204-220 and/or certain rates of operation based onthe patient condition 234. For example, with reference to FIG. 1A, ifthe patient condition 234 indicates that the patient had neck surgery,the controller 222 may prevent the actuation of the fowler adjustmentdevice 216 altogether. That is, the controller 222 may ignore user inputsignals associated with control of the fowler adjustment device 216. Thetype of “lock-out” is not particularly limited, and the controller 222may prevent the patient support system PS from entering a Trendelenburgor reverse Trendelenburg orientation; a height of the patient supportdeck 38 may be prevented from being adjusted outside of an acceptablerange; the patient support surfaces 48, 52, 111 may be prevented fromentering an unacceptable orientation; and other suitable lock-outs arecontemplated.

In some embodiments, if two or more user input devices 228 are actuatedsimultaneously to generate two or more input signals, the controller 222may automatically control the rate of operation of two actuatabledevices 204-220 based on the patient condition 234. For example, if theuser actuates the buttons B9, B11 associated with the fowler adjustmentdevice 216 and the gatch adjustment device 218 simultaneously, thecontroller 222 may control the rate of operation for the fowleradjustment device 216 and the gatch adjustment device 218 in a manner tominimize the discomfort experienced by the patient disposed on thepatient support surface 48, 52. As one example, based on thesimultaneous actuation of buttons B9, B11, the controller 222 may firsttransmit an output signal to the fowler adjustment device 216 with aFAST rate of operation for a period of time, and then subsequentlytransmit an output signal to both the fowler adjustment device 216 andthe gatch adjustment device 218 with a SLOW rate of operation. Ofcourse, any combination of rates of operation for any suitable timeperiods, in any suitable sequence, are contemplated.

The controller 222 may be further configured to determine a movementsensitivity score based on the patient condition 234, and be configuredto determine the desired rate of operation based on the movementsensitivity score. In one embodiment, the movement sensitivity score isbased on a skin injury profile. In another embodiment, the movementsensitivity score is computed based on the weight of the patient, theposition of the patient, temperature of the patient, temperature of theroom, the moisture level, the patient's medication history, the sensedpatient condition, or combinations thereof. Of course, the movementsensitivity score can be determined based on a combination of thepatient-related information that makes up the patient condition 234. Thecontroller 222 may utilize a look-up table to determine the rate ofoperation, or may utilize a suitable algorithm. Finally, the movementsensitivity score can be inputted by the user with the user input device228 or the voice actuation interface 230.

Referring the chart of FIG. 11, in one example, the actuatable device200 is the fowler adjustment device 216. P1 shows a fourth rate ofoperation R4 of the fowler adjustment device 216 suitable for a patientthat that has a movement sensitivity score of 10, such as a burn victim.P2 shows the fifth rate of operation R5 for the fowler adjustment device216 suitable for a patient that has a movement sensitivity score of 5,such as patient with a history of skin lesions. P3 shows a sixth rate ofoperation R6 for the fowler adjustment device 216 suitable for patientthat has a movement sensitivity score of 1, such as a patient that doesnot require extraordinary caution with movement. The controller 222 maybe configured to control the fowler adjustment device 216 at rates R4,R5, R6 based on the movement sensitivity score.

The controller 222 may determine what types of motion and what rate ofoperations are appropriate for a person with a given movementsensitivity score. Thus, as described above, the controller 222 mayprevent actuation of one or more actuatable devices or one or more ratesof operation if the movement sensitivity score exceeds a predeterminedthreshold. The controller 222 may cooperate with the indicator device242 to output the movement sensitivity score and suitable rates ofoperation for the patient having the determined movement sensitivityscore.

The controller 222 may be further configured to control the rate ofoperation for the actuatable devices 204-220 based on the state of theactuatable devices 204-220, based on input from the sensing system 236,or based on the sensed state or position of each actuator 202 of theactuatable devices 204-220. As described above, the state of theactuatable device 204-220 may comprise a sensed current position of theactuatable device 204-220. The sensed current position of the actuators202 may comprise the sensed current position of all actuators 202associated with the actuatable device 204-220.

In certain embodiments, the controller 222 is configured to determinethe desired rate of operation based on a combination of the state of theactuatable device 204-220 and/or the presence of the patient adjacent toone or more of the patient support surfaces 48, 52, 111. If thecontroller 222 determines that the actuatable device 204-220 has a firststate and that no patient is positioned adjacent to patient supportsurfaces 48, 52, 111, the controller 222 may determine a first desiredrate of operation; whereas, if the controller 222 determines that theactuatable device 204-220 has the first state and that the patient ispositioned adjacent to the patient support surfaces 48, 52, 111 thecontroller 222 may determine a second desired rate of operation. In sucha configuration, the first desired rate of operation is higher than thesecond desired rate of operation.

The controller 222 may be configured to determine the state of theactuatable device 204-220 by sensing a current position of the actuators202 of the actuatable device 204-220. In such a configuration, thecontroller 222 is configured to determine the desired rate of operationbased on the combination of the sensed current position of the actuators202, and the patient presence input signal. This may allow thecontroller 222 to quickly change the state of the actuatable device 200from the first state to the second state without risk of causing injuryto the patient. Other ways of determining the state of the actuatabledevices 204-220 are also contemplated.

The actuatable devices 204-220 may have many possible configurations forperforming the predetermined functions of the patient support system PS.Exemplary configurations of some of the actuatable devices 204-220 aredescribed further below, comprising the coordinated motion device 204,patient raising device 206, the patient turning device 208, the patientcentering device 210, the patient ingress/egress device 212, the liftdevice 214, the fowler adjustment device 216, the gatch adjustmentdevice 218, and the transport device 220. It should be understood thatnumerous configurations of the actuatable devices 204-220, other thanthose specifically described, are possible. Additionally, numerousscenarios exist in which the rate of operation of these actuatabledevices 204-220 can be operated based on the patient condition 234. Aspreviously described, the controller 222 may control the rate ofoperation of these actuatable devices 204-220 based on the patientcondition 234, as obtained from the EMR 238 or the sensing system 236. Afew exemplary scenarios of how these actuatable devices 204-220 may beutilized are also described below. However, numerous other scenarios notdescribed herein, are also possible.

Referring to FIG. 12, a method of controlling the actuator is alsoprovided. The method comprises the step 246 of determining the patientcondition for the patient; the step 248 of determining a desired rate ofoperation for the actuator based on the patient condition; and the step250 of controlling the actuator with the desired rate of operation tomove the patient.

In another embodiment, referring to FIG. 13, the method comprises a step252 of actuating the voice actuation interface; a step 254 oftransmitting the user input signal from the voice actuation interface tothe controller; a step 256 of determining a desired rate of operationfor the actuator based on the user input signal; and a step 258 ofcontrolling the actuator with the desired rate of operation.

Referring to FIG. 6, the coordinated motion device 204 may comprise anactuator system comprising two or more actuators 202. The coordinatedmotion device 204 may be configured to perform compound movements that,when a patient is present, causes multiple portions of the patient'sbody to be moved in a coordinated manner. Thus, the coordinated motiondevice 204 is capable of assuming different states. Each state pertainsto a different orientation of one or more portions of the patientsupport surfaces 48, 52, 111. In one embodiment, the coordinated motiondevice 204 is capable of changing the angular orientation of variousportions of the patient's body simultaneously, such as the patient'shead, back, thighs, calves, and/or feet. The actuators 202 and patientsupport surfaces 48, 52, 111 of the coordinated motion device 204cooperate to assume a first state and a second state. The controller 222is configured to control a rate of operation at which the actuators 202and the patient support surface 48, 52, 111 cooperate to move from thefirst state to the second state.

Referring to FIG. 3 and FIGS. 4A-4F, in one embodiment, the chair 100comprises the coordinated motion device 204. Referring now to FIG. 14,the chair 100 comprises a back rest actuator 112, a leg rest actuator114, a lift actuator 116, and a seat actuator 118. The controller 222 iscoupled to each of these actuators and is configured to control the rateof operation of each actuator 112, 114, 116, 118. While four actuatorsare shown in this exemplary embodiment, it should be appreciated thatthe coordinated motion device 204 may comprise only two or threeactuators, or may comprise more than four actuators. Similarly, while inthe illustrated embodiment the chair 100 is displayed. The patientsupport apparatus 30 of FIG. 1A may comprise the coordinated motiondevice 204. For example, by jointly controlling the fowler adjustmentdevice 216 and the gatch adjustment device 218 of the patient supportapparatus 30, the controller 222 essentially creates a coordinatedmotion device 204 that is capable of assuming multiple states.

As described above, each state of the coordinated motion device 204pertains to a different orientation of one or more portions of thepatient support surfaces 48, 52, 111. In FIG. 3, the patient supportsurface 111 is cooperatively defined by the patient-facing surface ofthe seat 102, the patient-facing surface of the back rest 104, and thepatient-facing surface of the leg rest 106. Thus, when the chair 100 isin the flat state (See FIG. 4B), the patient support surface 111 definedby the seat 102, the back rest 104, and the leg rest 106 are generallylevel with one another, and generally parallel to the floor surface. Onthe other hand, in the standing state (See FIG. 4F), the seat 102assumes an angle of approximately 30 degrees, whereas the back rest 104and the leg rest 106 are perpendicular to the floor. When the patient isdisposed on the chair 100 while the chair 100 from one state to another,different portions of the patient's body are moved in a coordinatedmanner (e.g., the patient's back and the patient's legs are changingtheir angle relative to the floor simultaneously).

Referring now to FIG. 8, as described above, the chair 100 comprises achair control panel CCP that comprises buttons B21-B26 that correspondto the different states that can be assumed by the coordinated motiondevice 204, i.e., the chair 100. When a user presses on any one of thebuttons B21-B26, the controller 222 will activate the necessary ones ofactuators 112, 114, 116, 118 to move the chair 100 to the correspondingstate. Buttons B13, B14, B15 correspond to the FAST, MEDIUM, and SLOWrates of operation as described above with respect to the patientsupport apparatus 30. Buttons B27 and B28 transmit a user input signalthat causes the height of the seat 102 to raise and lower relative tothe floor.

Referring to FIG. 15A, when the user actuates button B25 correspondingto the flat state (FIG. 4B), and the chair 100 is currently in thestanding state (FIG. 4F), the controller 222 may be configured tocontrol the actuators 112, 114, 116, 118 such that the patient supportsurface 111 defined by the chair 100 will pass through the first uprightstate (FIG. 4E), the second upright state (4D), and the recline state(FIG. 4C) before eventually reaching flat state (FIG. 4B). This isbecause, in some configurations, all six states (FIG. 4A-FIG. 4E) of thechair 100 are arranged sequentially and the chair 100 is only able tomove from one state to another in the predefined sequence. Similarly,regardless of the initial state of the chair 100, it will always movesequentially from its current state to its final state by moving throughcertain intermediate states.

However, it should be appreciated the chair 100 is movable to avirtually infinite number of intermediate states between the six statesshown in FIGS. 4A-4F and FIG. 15A. Thus, the patient support surface 111defined by the seat rest 102, the back rest 104, and the leg rest 106 ismovable to a virtually infinite number of positions, which accordingly,are capable of positioning the patient disposed on the patient supportsurface 111 in a virtually infinite number of positions.

Referring again to FIG. 14, in the illustrated embodiment, seat actuator118 comprises a stationary end 120 pivotally mounted a chassis 122. Seatactuator 118 further comprises an extendible end 124 that is pivotallymounted to a seat frame 126. When seat actuator 118 extends, extendibleend 124 causes the seat frame 126 to tilt in such a manner that aforward end of seat 102 moves downward relative a backward end of seat102 (i.e., the seat frame 126 will rotate in a counter clockwisedirection about seat pivot axis 128). The retraction of seat actuator118 will, in contrast, cause seat frame 126 to tilt in the oppositemanner (i.e., seat frame 126 will rotate in a clockwise direction). Thecontroller 222 may control the rate of operation of the seat actuator118 in order to control the rate of tilt of the seat 102.

Back rest actuator 112 comprises a stationary end 130 that is mounted toback rest 104 and an extendible end 132 that is mounted to the seatframe 126. The extension and retraction of back rest actuator 112 willtherefore cause back rest 104 to pivot with respect to seat frame 126.More specifically, when back rest actuator 112 extends, back rest 104will rotate in a counterclockwise direction. In contrast, when back restactuator 112 retracts, back rest 104 will rotate in a clockwisedirection. Because back rest 104 is coupled to the seat frame 126, therotation of seat frame 126 will also cause back rest 104 to rotate. Inother words, the relative angle between back rest 104 and seat 102 willonly change when back rest actuator 112 is actuated (and not when seatactuator 118 extends or retracts while back rest actuator 112 does notchange length). The angle of back rest 104 with respect to the floor (oranother fixed reference), however, will change as seat frame 126 pivotsabout seat pivot axis 128. The controller 222 may control the rate ofoperation of the seat actuator 118 in order to control the rate at whichthe back rest 104 rotates in the clockwise or counterclockwisedirections relative to the seat frame 126.

Leg rest actuator 114 comprises a stationary end 134 that is mounted toseat frame 126 and an extendible end 136 that is mounted to leg rest106. The extension of leg rest actuator 114 therefore will pivot legrest 106 from a retracted position to an extended position. Theextension and retraction of leg rest actuator 114 will change theorientation of leg rest 106 with respect to seat frame 126. Theorientation of leg rest 106 with respect to seat frame 126 will notchange based on the extension or retraction of any other actuators 112,116, 118. The orientation of leg rest 106 with respect to the floor willchange when seat frame 126 is pivoted about seat pivot axis 128 by seatactuator 118. The controller 222 may control the rate of operation forthe leg rest actuator 114 to control the rate at which the leg rest 106pivots from the retracted position to the extended position.

In summary, the pivoting of seat frame 126 about its pivot axis 128 willtherefore change the orientations of all of seat 102, back rest 104, andleg rest 106 with respect to the floor, but will not, by itself changethe orientations of any of these components (seat 102, back rest 104,and leg rest 106) with respect to each other.

Lift actuator 116 comprises a stationary end 138 that is coupled to abase 142 and an extendible end 140 that is coupled to an X-frame lift144. The X-frame lift 144 comprises two legs 146 that are pivotallycoupled to each other about a center axis 148. When lift actuator 116extends or retracts, the relative angle between each of the legs 146changes, which changes the overall height of the X-frame lift 144.Further, because chassis 122 is mounted on a top end of X-frame lift144, the changing height of the scissor lift 144 changes the height ofchassis 122. Lift actuator 116 therefore raises the height of chassis122 when it extends and lowers the height of chassis 122 when itretracts. Because seat frame 126 is mounted on chassis 122, and becauseback rest 104 and leg rest 106 are both mounted to seat frame 126,raising and lowering the height of chassis 122 simultaneously raises andlowers the height of the seat 102, back rest 104, and leg rest 106.However, extending and retracting lift actuator 116 does not, by itself,change the angular orientations of any of leg rest 106, back rest 104,and/or seat 102 with respect to each other or the floor. The controller222 may be coupled to the lift actuator 116 to control the rate ofoperation for the lift actuator 116 to control the rate operation atwhich the seat 102, back rest 104, and leg rest 106 are raised orlowered relative to the floor.

Referring to FIG. 15B, the controller 222 may use predefined positionsof each actuator 112, 114, 116, 118 for each of the desired states, astarget values for controlling actuators 112, 114, 116, 118. For example,memory 224 may comprise data associated with the desired positions foractuators 112, 114, 116, 118 for each state of the chair 100. Wheneverchair 100 is commanded by a user to move from its current position toone of the desired states, the controller 222 may use the storedposition data in the memory 224 as the target positions in the controlof the actuators 112, 114, 116, 118. The sensing system 236 may beconfigured to detect the current positions of each actuator 112, 114,116, and 118 to determine when the actual position matches thepredefined position. Of course, other ways of controlling the actuators112, 114, 116, 118 to reach each of the desired states are contemplated.In this manner, the controller 222 can determine what positions of eachactuator 112, 114, 116, 118 correspond to each state of the chair 100.

The controller 222 may be configured to control each of the actuators112, 114, 116, and 118 in a coordinated manner such that each actuator112, 114, 116, and 118 arrives at the desired state simultaneously, orsubstantially simultaneously, as disclosed in the commonly assigned U.S.patent application Ser. No. 14/801,167, entitled “MEDICAL SUPPORTAPPARATUS” which is hereby incorporated by reference. Thus, thecontroller 222 may selectively control the operation of the actuators112, 114, 116, 118 of the chair 100 such that patient support surface111 reaches the desired state in a fluid manner.

If the controller 222 determines that no patient occupies the patientsupport system PS, such as the chair 100, based on the patient presenceinput signal, the controller 222 may allow the coordinated motion device204 to move in an uncoordinated manner. For example, if the controller222 determines that the patient is not adjacent to the patient supportsurface 111, the controller may disengage the coordinated motion mode,which allows the actuators 112, 114, 116, 118 to move such that they donot necessarily reach the state simultaneously, or substantiallysimultaneously.

By selectively controlling the rates of operation for one or moreactuators 112, 114, 116, 118, the controller 222 may effectively controlthe rate at which the coordinated motion device 204 moves from one stateto another. Buttons B13, B14, and B15 correspond to FAST, MEDIUM, andSLOW rates of operation. If a user depresses rate selector button B13corresponding to the FAST rate of operation, and subsequently depressesbutton B21 corresponding to the standing state, the controller 222controls the rate of operation of the actuators 112, 114, 116, 118 suchthat the chair 100 moves from its current state towards the uprightstate at an accelerated rate. Similarly, if the user depresses rateselector button B15 corresponding to the SLOW rate of operation, andsubsequently depresses button B25 corresponding to the flat state, thecontroller 222 controls the rate of operation of the actuators 112, 114,116, 118 such that the chair 100 moves from its current state toward tothe flat state at the SLOW rate of operation. Even at this SLOW rate ofoperation, the controller 222 may control the actuators 112, 114, 116,118 such that they move in a coordinated manner and arrive at thedesired state at substantially the same time.

As described above, the controller 222 may control the rate of operationof the actuators 112, 114, 116, 118 based on both the user input signaland the patient presence input signal. Accordingly, if the patientpresence sensor 241 detects that the patient is adjacent to the patientsupport surface 111, the controller 222, based on the patient presenceinput signal may determine whether the user-selected rate of operationis suitable. Thus, if the patient presence input signal indicates thatthe patient is not adjacent to the patient support surface 111, thecontroller 222 may generally permit faster rates of operation for theactuators 112, 114, 116, and 118. Thus, simplistically, if no patient ispresent, the controller 222 may control the actuators 112, 114, 116, 118at the FAST rate of operation. If the patient is present, the controller222 may control the actuators 112, 114, 116, 118 at the SLOW rate ofoperation, even if the user-selected rate of operation is the FAST rateof operation. Such automatic control ensures that the patient is notmoved at unsuitable speeds.

For example, if the chair 100 is currently in the standing state (SeeFIG. 4F), and the user depresses button B13 corresponding to the FASTrate of operation, and subsequently depresses button B25 correspondingto the flat state, the controller 222 may query the patient presencesensor 241 to determine whether the patient is adjacent to the patientsupport surface 111. If the patient presence sensor 241 determines thatthe patient is adjacent to the patient support surface 111, thecontroller 222 may not permit the chair 100 to operate at theuser-selected rate of operation. Instead, the controller 222 mayautomatically select a suitable rate of operation, typically a slowerrate of operation, than the user-selected rate of operation. However, ifthe patient presence sensor 241 determines that the patient is notadjacent to the patient support surface 111, the controller 222 mayautomatically select a faster rate of operation than the user-selectedrate of operation. Such a feature may permit the user to quickly placethe chair 100 in the desired state without risk of patient injury.

As described above, the controller 222 may control the rate of operationof the actuators 112, 114, 116, 118 based on both the user input signaland the patient condition 234. In such an embodiment, the controller222, based on the patient condition 234, may determine whether theuser-selected rate of operation is suitable. Thus, if user-selectedrated of operation is unsuitable for the patient condition 234 of thepatient disposed on the patient support surface 111, the controller 222may automatically adjust the rate of operation to a rate of operationthat is suitable for the patient condition 234. For example, if thechair 100 is currently in the standing state and the user depressesbutton B26 and button B13, indicating that the user desires that thechair 100 move to the Trendelenburg state at a FAST rate of operation,the controller 222 may query the patient condition 234 before moving thechair 100 to the Trendelenburg state at the FAST rate of operation.Thus, if the patient condition 234 indicates that the patient has a skininjury, the controller 222 may move the chair 100 to the Trendelenburgstate at a SLOW rate of operation.

If the controller 222 determines that the chair 100 is in a first stateand that the user desires that the chair 100 be moved to a second state,the controller 222 may control the rate of operation of the chair 100based on the current state. For example, if the chair 100 is in thestanding state and the user desires that the chair 100 be placed in theflat state, the controller 222 may determine that a FAST rate ofoperation is desired. In contrast, if the user simply wishes to movefrom the standing state to the reclined state, the controller 222 maycontrol the rate of operation of the chair 100 at the SLOW rate ofoperation. The controller 222 may determine the desired rate ofoperation for the chair 100 based on how many intermediate states arebetween the current state and the desired state, or the distance thatthe actuators 112, 114, 116, 118 would need to extend/retract to movefrom the current state to the desired state.

The controller 222 may also be configured to determine the direction ofmovement of the actuatable device 204-220, and determine the desiredrate of operation based on the direction of movement and/or the patientpresence signal. Thus, the controller 222 may determine the desired rateof operation of the actuatable device to be increased or decreased inone direction relative to the desired rate of operation in the oppositedirection. For example, with reference to FIGS. 4A-4F, the controller222 may determine that the chair 100 is moving in a first direction fromthe flat state (FIG. 4B) to the stand state (FIG. 4F) by receivinginputs from the underlying actuators 112, 114, 116, 118. The controller222 may determine the desired rate of operation to be a first rate ofoperation based on motion in that first direction. The controller 222may further determines that the chair is moving in a second directionfrom the stand state (FIG. 4F) to the flat state (FIG. 4B) based oninputs from the underlying actuators. Because the second direction ofmotion is likely associated with absence of the patient, the controller222 may determine the desired rate of operation to be a second rate ofoperation, with the second rate of operation being greater than thefirst rate of operation. It should be appreciated that while thisexample was described in view of the chair 100, the controller 222 maydetermine the rate of operation for any actuatable devices based on thedirection of movement, and thus, asymmetric rate of operation control isenabled. Other ways of determining the state of the actuatable devices204-220 are also contemplated. For example, the controller 222 maydetermine rate of operation based on both the direction of movement andthe patient presence.

Referring to FIG. 16, a method of controlling the coordinated motiondevice is also provided. The method comprises a step 260 of transmittinga user input signal from the user input device to the controller; a step262 of determining a desired rate of operation for each of the actuatorsbased on the user input signal; and a step 264 of transmitting an outputsignal to control the actuators with the desired rate of operation.

Referring to FIGS. 17A and 17B, the patient raising device 206, thepatient centering device 210, and the patient turning device 208 may beintegrated into the mattress 50. In one embodiment, the mattress 50 isreferred to as a self-contained therapy mattress since several workingcomponents of the mattress 50 that are used to carry out the functionsof the patient raising device 206, the patient centering device 210, andthe patient turning device 208 are enclosed by a cover 300 of themattress 50. The cover 300 can be any conventional material including,but not limited to natural fibers, polymeric materials, or combinationsthereof. The cover 300 may be formed of a vapor permeable material. Thecover 300 may be flexible and stretchable to accommodate inflation ofvarious inflatable bladders described herein. Of course, it is furthercontemplated that the mattress 50 may be configured to perform otherfunctions, such as patient egress/ingress, patient temperature control,etc.

The patient raising device 206 is configured to perform the function ofmoving the patient from a slouched position towards a non-slouchedposition by moving the patient towards the head end of the patientsupport system PS. The illustrated patient raising device 206 comprisesa patient raising bladder structure 302 positioned within the cover 300.The patient raising bladder structure 302 comprises patient raisinginflation bladders 304 that are connected together longitudinally sothat each of the patient raising inflation bladders 304 spans across amajority of a width of the mattress 50 below the patient and together,the patient raising inflation bladders 304 span a majority of a lengthof the mattress 50 below the patient.

In the embodiment shown, nine patient raising inflation bladders 304assist in raising the patient from a slouched position. Additionalpatient raising inflation bladders 304 may be employed to raise thepatient, or in some cases, fewer patient raising inflation bladders maybe used. FIGS. 18A through 18C illustrate a progressive inflation schemeused to raise the patient six inches from the slouched position (seeFIG. 18A). The patient raising inflation bladders 304 are inflated anddeflated to create a wave-like force directed towards the head end ofthe patient support apparatus 30 to push the patient toward the headend. As shown, in some cases, only one of the patient raising inflationbladders 304 are fully inflated at a time to create the wave-like forceneeded to raise the patient. Once fully inflated, each patient raisinginflation bladder 304 begins to deflate and the next adjacent patientraising inflation bladder 304 toward the head end begins to inflate(see, e.g., FIG. 18B).

Referring to FIGS. 19A and 19B, the patient centering device 210 isconfigured to move the patient from an off-center position toward thelongitudinal centerline CL of the mattress 50, such as when the patienthas shifted too far to one side or the other of the mattress 50.Referring back to FIGS. 17A and 17B, the patient centering device 210comprises a patient centering/turning bladder structure 306 positionedwithin the cover 300. The patient centering/turning bladder structure306 comprises a pair of elongate bladders 308 that are connectedtogether along a longitudinal seam so that each of the elongate bladders308 spans a majority of the length of the mattress 50, but spans onehalf or less the width of the mattress 50, below the patient. Theelongate bladders 308 are selectively inflated to guide the patienttoward the longitudinal centerline CL of the mattress 50 when desired.Referring to FIGS. 19A and 19B, inflation of one of the elongatebladders 308 is shown to urge the patient toward the centerline CL ofthe mattress 50. Movement of the patient toward the centerline CL maynot be immediate, but may occur gradually as the elongate bladders 308remains inflated.

The patient turning device 208 is configured to perform the function ofturning the patient and/or providing rotational therapy to the patient.The patient turning device 208 may utilize the same patientcentering/turning bladder structure 306 as the patient centering device210. When the patient turning device 208 is operated, the elongatebladders 308 are independently inflated to raise one side or the otherof the patient. Referring to FIGS. 20A and 20B, if used for rotationtherapy, then the elongate bladders 308 are used for rotation therapy bysequentially inflating/deflating the elongate bladders 308 to raise oneside of the patient to an angle (3, lower the patient, and then raisethe other side of the patient to the angle θ such that the patientexperiences a side-to-side rotation that shifts pressures between thepatient and the mattress 50. The method may comprise controlling thepump with the desired rate of operation to control the rate at which thepatient turns.

The patient ingress/egress device 212 is configured to perform thefunction of easing ingress and/or egress of the patient to and/or fromthe patient support apparatus 30. Referring back to FIGS. 17A and 17B,the patient ingress/egress device 212 comprises a main air bladder 310positioned within the cover 300. The main air bladder 310 is sized toextend substantially the full width of the mattress 50 and a majority ofthe length of the mattress 50. The main air bladder 310 comprises, inthe embodiment shown, a single air bladder than can be inflated anddeflated, depending on the needs of the patient or the caregiver. Themain air bladder 310 may be fully inflated to ease ingress and egress ofthe patient. For instance, if the main air bladder 310 is less thanfully inflated, e.g., to soften the mattress 50 and provide additionalcomfort to the patient, it can be difficult for the patient to moveacross the mattress 50 for ingress or egress. Accordingly, by fullyinflating, and stiffening the mattress 50, movement across the mattress50 can be made easier for the patient.

The patient raising bladder structure 302, the patient centering/turningbladder structure 306, and the main air bladder 310 are supported withinthe cover 300 of the mattress 50 by a base cushion 312. The base cushion312 is located between outside lateral cushions 314 and outsidelongitudinal cushions 316. The cushions 312, 314, 316 may be rigid orflexible, may comprise one or more air bladders, or simply beconstructed of conventional bedding materials such as foam, and thelike. The cushions 312, 314, 316 may be separate cushions or may beintegrated into an integral cushion structure.

A control unit 318 is shown at the foot end of the mattress 50 in FIG.17A. The control unit 318 comprises a rigid box that encloses a pump 320and a motor 322 for operating the pump 320. As shown, the control unit318 may fit within the cover 300 of the mattress 50 or outside of thecover 300. The pump 320 is used to inflate the patient raising inflationbladders 304, the elongate bladders 308, and the main air bladder 310.Other configurations of the control unit 318 are also possible.

Referring to FIG. 21, general fluid flow schematics for the patientraising bladder structure 302, the patient centering/turning bladderstructure 306, and the main air bladder 310, respectively, are shown.The fluid flow schematics generally illustrate the fluid flow paths inwhich fluid, such as air, flow from an air source A (such as outsideair) via the pump 320 to the patient raising bladder structure 302, thepatient centering/turning bladder structure 306, and the main airbladder 310. This schematic discloses a valve 324, such as a solenoidvalve or other types of valve, that control the movement of the fluidinto and out of the patient raising bladder structure 302, the patientcentering/turning bladder structure 306, and the main air bladder 310 toperform the functions described herein. The valve 324 is controlled bythe controller 222, and may be able to selectively establish fluidcommunication between the pump 320 and each of the patient raisingbladder structure 302, the patient centering/turning bladder structure306, and the main air bladder 310 or close off such fluid communication.The valve 324 may also be able to vent the patient raising bladderstructure 302, the patient centering/turning bladder structure 306, andthe main air bladder 310 to atmosphere to deflate the patient raisingbladder structure 302, the patient centering/turning bladder structure306, and the main air bladder 310. It should be understood thatadditional valves, not shown, may be utilized to carry out the functionsof the patient raising bladder structure 302, the patientcentering/turning bladder structure 306, and the main air bladderstructure 306.

In one exemplary operation of the patient raising device 206, the pump320 sequentially inflates one or more of the patient raising inflationbladders 304, as shown in FIGS. 18A through 18C to move the patient fromthe slouched position to a raised position. The controller 222 isconfigured to control the rate of operation of the patient raisingdevice 206 by controlling the rate of operation of the pump 320 and/ormotor 322 in response to receiving the user input signal from one of theuser input devices 228, such as the buttons B1 or B2. As will beunderstood, the pump 320 and/or motor 322 may be the actuator 202 of thepatient raising device 206.

In one configuration, the controller 222 is configured to control therate of operation of the patient raising device 206 based on the userinput signal received from the rate selector buttons B13, B14, B15.Alternatively, the controller 222 is configured to control the rate ofoperation of the patient raising device 206 based on the user inputsignal and based on the patient condition 234.

For example, if the user depresses button B1 indicating that the userwishes to actuate the patient raising device 206, and depresses buttonB13 indicating the FAST rate of operation, the controller 222 maycontrol the pump 320 and/or motor 322 to operate at an increased rate ofoperation in order to increase the rate at which the patient is urgedtowards the head end of the patient support apparatus 30. In theexemplary embodiment, this entails operating the pump 320 to inflate thepatient raising inflation bladders 304 until the patient has reached thedesired patient position. This may comprise operating the pump 320 untila current center of gravity of the patient is moved toward the head endof the patient support apparatus 30 by a desired distance.

In another embodiment, the controller 222 controls the rate of operationof the patient raising device 206 based on the user input signal andbased on the patient condition 234. For example, if the user depressesbutton B1 indicating that the user wishes to actuate the patient raisingdevice 206, and depresses button B13 indicating the FAST rate ofoperation is desired, the controller 222 may query the patient condition234 to determine whether the user-selected rate of operation is suitablefor the patient condition 234. If the FAST rate of operation is notsuitable for the patient condition 234, such as when the patient has aneck injury, the controller 222 may determine a desired rate ofoperation that is suitable for the patient condition 234, and controlthe pump 320 and/or motor 322 with the desired rate of operation to slowdown the rate at which the patient moves towards the head end of thepatient support system PS. This slower rate of operation may also avoiddisorienting effects on the patient from abrupt movement and reduceshear forces to the patient's skin. In some cases, operation of thepatient raising device 206, including the time to inflate/deflate onesequence of the patient raising inflation bladders 304 may be twice aslong as the time needed for the same operation if the controller 222controlled the rate of operation at the FAST rate of operation.

Additionally, the controller 222 may determine a rate of operation forthe patient raising device 206 based on other patient-relatedinformation. For example, the controller 222 may control the rate ofoperation for the patient raising device 206 based on the skin conditionof the patient, or the patient's movement sensitivity score.

In a similar manner, the controller 222 may control the rate ofoperation of the patient centering device 210. In one exemplaryoperation of the patient centering device 210, the pump 320 operates toinflate one or more of the elongate bladders 308 to move the patienttoward the centerline CL of the mattress 50. The controller 222 isconfigured to control the rate of operation of the patient centeringdevice 210 by controlling the rate of operation of the actuator 202, inthe illustrated embodiment, the rate of operation of the pump 320 and/ormotor 322 in response to receiving the user input signal from one of theuser input devices 228, button B3.

In one configuration, the controller 222 is configured to control therate of operation of the patient centering device 210 based on the userinput signal and based on the user input signal received from the rateselector buttons B13, B14, B15. Alternatively, as described above withrespect to the patient raising device 206, the controller is configuredto control the rate of operation of the patient centering device 210based on the user input signal and based on the patient condition 234.

During operation of the patient centering device 210, in one embodiment,the elongate bladder 308 that is located on the side of the mattress 50on which the patient is sensed is first inflated. The elongate bladder308 may be inflated at a moderate angle such that the patient slowlyslides towards the centered position on the centerline CL. In somecases, both of the elongate bladders 308 may be inflated simultaneously,to different levels (e.g., different pressures or angles as measured bypressure sensors or angle sensors in communication with the controller222) or the same level to keep the patient in the centered position. Forexample, if the user depresses button B3 indicating that the user wishesto actuate the patient centering device 210, and depresses button B13,indicating that the user wishes to operate at the FAST rate ofoperation, the controller 222 may query the patient condition 234 todetermine whether the user-selected rate of operation is suitable forpatient condition 234. If the FAST rate of operation is not suitable forthe patient centering device 210 for the patient condition 234, such aswhen the patient has severe burns, the controller 222 may determine adesired rate of operation that is suitable for the patient condition234, and control the pump 320 and/or motor 322 with the desired rate ofoperation to slow down the rate at which the patient is moved towardsthe longitudinal centerline CL of the patient support apparatus 30. Inone embodiment, the controller 222 may control the pump with the desiredrate of operation to control the rate at which the patient moves towardthe centerline of the patient support surface.

In one exemplary operation of the patient turning device 208, the pump320 may inflate one or more of the elongate bladders 308 to turn thepatient. The controller 222 is configured to control the rate ofoperation of the patient turning device 208 by controlling the rate ofoperation of the pump 320 and/or motor 322 in response to receiving theuser input signal from one of the user input devices 228, such asbuttons B4, B5.

In one configuration, the controller 222 is configured to control therate of operation of the patient turning device 208 based on the userinput signal received from the rate selector buttons B13, B14, B15.Alternatively, the controller 222 is configured to control the rate ofoperation of the patient turning device 208 based on the user inputsignal and the based on the patient condition 234.

In one exemplary operation of the patient ingress/egress device 212, thepump 320 may inflate the main air bladder 310 to assist the ingress oregress of the patient from the patient support apparatus 30. Thecontroller 222 is configured to control the rate of operation of thepatient ingress/egress device 212 by controlling the rate of operationof the pump 320 and/or motor 322 in response to receiving the user inputsignal from one of the user input devices 228, button B6.

In one configuration, the controller 222 is configured to control therate of operation of the patient ingress/egress device 212 based on theuser input signal received from the rate selector buttons B13, B14, B15.Alternatively, the controller 222 is configured to control the rate ofoperation of the patient ingress/egress device 212 based on the userinput signal and the patient condition 234.

Referring to FIG. 22, the lift device 214 is configured to lift andlower the patient between the minimum and maximum heights of the patientsupport system PS, and intermediate positions there between. In theexemplary embodiment shown, the lift device 214 comprises a pair of liftarms 400 pivotally connected at a center thereof and arranged in ascissor-lift configuration. The lift arms 400 are movable to raise andlower the patient support surfaces 48, 52 relative to the base 34 andthe floor surface. Each of the lift arms 400 have a first end pivotallyconnected at a fixed pivot point 402 to one of the base 34 and theintermediate frame 36. The lift arms 400 extend from the first end to asecond end. A pin 404 is fixed to the second end and arranged to slidein a horizontal guide slot 406 defined in one of the base 34 and theintermediate frame 36.

A lift actuator 408 is fixed at one end to the base 34 and to one of thepins 404 at the other end. When actuated, the lift actuator 408 directlyslides the pin 404 in the horizontal guide slot, which also indirectlyslides the other pin 404 in the other horizontal guide slot 406, toraise and lower the patient support surface 42. The lift actuator 408may comprise an electric linear actuator, a hydraulic cylinder, orsimilar driving mechanism. Other configurations of the lift device 214are also possible, such as column lift mechanisms shown in FIG. 1A, thelift system of the chair 100, or any other suitable lift mechanism.

In some embodiments, the controller 222 is configured to initiateoperation of the lift device 214 in response to receiving a user inputsignal when the caregiver presses the button B7 or B8 to operate thelift actuator 408 to either lift or lower the patient support surface48, 52. The controller 222 is further configured to control the rate ofoperation of the lift device 214 by controlling the rate of operation ofthe actuator 202, in the illustrated application, the rate of operationof the lift actuator 408 in response to receiving the user input signalfrom buttons B7, B8.

In certain configurations, the controller 222 is configured to controlthe rate of operation of the lift device 214 based on the user inputsignal received from buttons B13, B14, B15. Alternatively, thecontroller 222 is configured to control the rate of operation of thelift device 214 based on the user input signal and based on the patientcondition 234.

For example, if the user depresses button B8 indicating that the userwishes to actuate the lift device 214 to lower the patient supportsurface 48, 52 and depresses button B13 indicating the FAST rate ofoperation, the controller 222 may query the patient condition 234 todetermine whether the user-selected rate of operation is suitable forthe patient condition 234. If the FAST rate of operation is not suitablefor the patient condition 234, such as when the patient has apsychological sensitivity to falling as observed by the caregiver or isa fall risk, the controller 222 may determine a desired rate ofoperation for the patient condition 234, and control the lift actuator408 with the desired rate of operation to slow down the rate at whichthe patient moves towards the base 34 of the patient support apparatus30. The slower rate of operation may minimize the patient's anxietyand/or the likelihood that the patient would fall from the patientsupport surface 48, 52. The patient's fear of falling may have beenmentioned to the caregiver, and the caregiver may have entered thispatient condition 234 to the memory 224 through the user input device228 before actuation of the lift device 214.

In another embodiment, if the user wishes to clean the patient supportsurfaces 48, 52, 111, the user may actuate the user input device 228associated with the cleaning mode B18. If the patient position sensor241 determines that no patient is positioned adjacent to the supportsurface 48, 52, 111, the controller 222 may control the lift device 214with the FAST rate of operation. This allows such a user to quicklylower the patient support surface 48, 52, 111 to a convenient height,and clean and sanitize the patient support surface 48, 52, 111, whileavoiding potential injury to the patient based on the increased rate ofoperation.

In yet another embodiment, the patient condition sensor 240 detects thatthe patient is asleep with a heart rate sensor, an acoustic sensor, acamera (optical or thermal), or other suitable sensor. If the usersubsequently decides to actuate the lift device 214 by depressing buttonB8 with a MEDIUM rate of operation (e.g., the user did not select one ofthe rate selector buttons or did not depress B8 with an actuationpattern indicating that a SLOW or FAST rate of operation is desired),the controller 222 based on the patient condition 234 (i.e., that thepatient is asleep), automatically determines a suitable rate ofoperation that is desired based on the patient condition 234 “ASLEEP”.For example, the controller 222 may determine that the MEDIUM rate ofoperation is not suitable for a patient that is asleep, andautomatically controls the lift device 214 at SLOW rate of operationthat is slower than the MEDIUM rate of operation.

If the patient support system PS is not already at the lowered position,upon receiving the user input signal, the controller 222 operates thelift actuator 408 to slowly lower the patient support apparatus 30 tothe lowered position. By slowly lowering the patient support apparatus30, such as at a rate much slower than the MEDIUM rate of operation ofthe lift device 214 using the nurse control panel NCP, the patient isnot awakened. The slower rate of operation may be less likely to wake upa patient.

The fowler adjustment device 216 and the gatch adjustment device 218 isconfigured to articulate the deck 38 of the patient support apparatus30. Referring to FIG. 23, the fowler adjustment device 216 in theexemplary embodiment comprises a fowler actuator 500 coupled to thefowler section 40. The fowler actuator 500 moves the fowler section 40relative to the intermediate frame 36. The gatch adjustment device 218comprises a thigh actuator 502 coupled to, and configured to move, thethigh section 44 and a foot actuator 504 is coupled to, and configuredto move, the foot section 46. The fowler actuator 500, thigh actuator502, and the foot actuator 504 may comprise electric linear actuatorsthat extend between the intermediate frame 36 and the particular decksection being adjusted. For example, as shown in FIG. 23, the fowlersection 40 is pivotally connected to the intermediate frame 36 at afixed pivot 506, the thigh section 44 is pivotally connected to theintermediate frame 36 at a fixed pivot 508, and the foot section 46 ispivotally connected to the thigh section 44 at pivot point 510. Thefowler actuator 500 has as a first end pivotally connected to theintermediate frame 36 and a second end pivotally connected to the fowlersection 40; the thigh actuator 502 has first end pivotally connected tothe intermediate frame 36 and a second end pivotally connected to thethigh section 44; and the foot actuator 504 has a first end pivotallyconnected to the intermediate frame 36 and a second end pivotallyconnected to the foot section 46. Actuation of each deck adjustmentactuators 500, 502, 504 raises and lowers the respective deck section40, 44, 46 at various inclination angles relative to the intermediateframe 36. It is contemplated that any suitable deck adjustment systemmay be utilized in conjunction with the patient support apparatus 30.

As described above, in certain embodiments, the deck adjustment devicemay be configured to provide coordinated motion between the multipleactuators 500, 502, 504 as described above with reference to the chair100. For example, the patient support deck 38 can be configured toassume a chair state, a bed exit state, a flat state, etc. Thus, thecontroller 222 may be configured to control the actuators 500, 502, 504such that the actuators 500, 502, 504 reach the desired statesimultaneously, or substantially simultaneously.

In some embodiments, the controller 222 is configured to initiateoperation of the fowler adjustment device 216 in response to receivingthe user input signal from button B9. The controller 222 is furtherconfigured to control the rate of operation of the fowler adjustmentdevice 216 by controlling the rate of the actuator 202, in theillustrated embodiment, the rate of operation of the fowler actuator 500in response to receiving the user input signal from one of the userinput devices 228, such as the buttons B9 or B10.

In one configuration, the controller 222 is configured to control therate of operation of the fowler adjustment device 216 based on the userinput signal received from the buttons B13, B14, B15. Alternatively, thecontroller 222 is configured to control the rate of operation of thefowler adjustment device 216 based on the user input signal and based onthe patient condition 234.

For example, if the user depresses button B9 indicating that the userwishes to actuate the fowler adjustment device 216 to tilt away from theintermediate frame 36, and depresses button B13 indicating the FAST rateof operation is desired, the controller 222 may query the patientcondition 234 to determine whether the user-selected rate of operationis suitable for the patient condition 234. If the FAST rate of operationis not suitable for the patient condition 234, such as when the patienthas a neck injury, the controller 222 may determine a desired rate ofoperation that is suitable for the patient condition 234, andautomatically control the fowler actuator 500 with the desired rate ofoperation to slow down the rate at which the patient tilts away from theintermediate frame 36 of the patient support apparatus 30. This slowerrate of operation may reduce the patient's neck pain. Additionally, thecontroller 222 may determine a rate of operation for the fowleradjustment device 216 based on other patient-related information. Forexample, the controller 222 may control the rate of operation for thefowler adjustment device 216 based on the skin condition of the patient,or the patient's movement sensitivity score.

The transport device 220 may comprise the one or more powered wheelassemblies 68 (See FIG. 2). Controller 222 is configured to control thewheel motors 72 such that the wheels 70 rotate about the rotational axis74. The direction and rate of the powered wheel assemblies 68 can becontrolled based on the user input device 228. In one embodiment,buttons B16 are force sensors that are provided on footboard 64 thatdetect a magnitude of forces exerted by a caregiver on the patientsupport apparatus 30. The controller 222 may generally power the poweredwheel assemblies 68 proportionally to the forces exerted by a caregiveron buttons B16. For example, in some embodiments, controller 222supplies power to the powered wheel assemblies 68 in increments, ratherthan a continuous fashion. Of course, in some embodiments, more than onepowered wheel assembly 68 can be driven as a pair with the same powerlevel, while the rear wheels could be driven as a separate pair (withthe same power level as each other, but not necessarily the same powerlevel as the front wheels).

The controller 222 is configured to control the rate of operation of thetransport device 220 by controlling the rate of operation of theactuator 202, in this example, the rate of operation of the wheel motor72 that rotate the wheels 70 in response to receiving the user inputsignal from one of the user input devices 228, such as buttons B16.

In one configuration, the controller 222 is configured to control therate of operation of the transport device 220 based on the user inputsignal received from the buttons B13, B14, B15. Alternatively, thecontroller 222 is configured to control the rate of operation of thetransport device 220 based on the user input signal and based on thepatient condition 234.

For example, if the user applies a force to one or both of buttons B16indicating that the user desires to operate the powered wheel assembly68 at the FAST rate of operation, the controller 222 may query thepatient condition 234 to determine whether the user-selected rate ofoperation is suitable for the patient condition 234. If the FAST rate ofoperation is not suitable for the patient condition 234, such as whenthe patient had major spinal surgery a few hours prior to transport, thecontroller 222 may determine a desired rate of operation that issuitable for the patient condition 234, and control the powered wheelassemblies 68, i.e., the wheel motors 72, with the SLOW rate ofoperation to slow down the rate at which the patient support apparatus30 moves along the floor. This slower rate of operation may minimize thepain experienced by the patient. Additionally, the controller 222 maydetermine a rate of operation for the transport device 220 based onother patient-related information. For example, the controller 222 maycontrol the rate of operation for the transport device 220 based on theskin condition of the patient, or the patient's movement sensitivityscore.

In another embodiment, if the user wishes to transport the patientsupport apparatus 30 across a long distance, the user may actuate theuser input device 228 associated with the transport mode B19. If thepatient presence sensor 241 determines that no patient is positionedadjacent to the support surface 48, 52, 111, and transmits thecorresponding patient presence input signal to the controller 222, thecontroller 222 controls the transport device 220 with the FAST rate ofoperation. This allows such a user to quickly move the patient supportapparatus 30 while avoiding potential injury to any patient. In certainembodiments, the TRANSPORT mode may only be selected if theidentification device 232 determines that the person adjacent to thesupport surface 48, 52, 111 is a TRANSPORTER (i.e., a person responsiblefor moving the patient support system PS).

As described the above, the controller 222 may control the rate ofoperation for devices other than those described above based on the userinput device and/or patient condition.

It will be further appreciated that the terms “include,” “includes,” and“including” have the same meaning as the terms “comprise,” “comprises,”and “comprising.”

Several embodiments have been discussed in the foregoing description.However, the embodiments discussed herein are not intended to beexhaustive or limit the invention to any particular form. Theterminology which has been used is intended to be in the nature of wordsof description rather than of limitation. Many modifications andvariations are possible in light of the above teachings and theinvention may be practiced otherwise than as specifically described.

What is claimed is:
 1. A patient support system for a patient having apatient condition, the system comprising: a base; a patient supportsurface supported by the base; an actuator configured to move thepatient when disposed on the patient support surface, the actuator beingoperable at different rates of operation; a sensing system configured tosense the patient condition when disposed on the patient support surfaceand to generate a patient condition sensor input signal, the sensingsystem comprising a camera configured to sense the patient conditionwhen disposed on the patient support surface; and a controllerconfigured to receive the patient condition sensor input signal from thesensing system, determine a desired rate of operation for the actuatorbased on the patient condition determined by the camera of the sensingsystem, and transmit an output signal to control the actuator with thedesired rate of operation.
 2. The patient support system of claim 1,wherein the controller is further configured to determine the desiredrate of operation for the actuator based on a combination of the patientcondition and medical procedure data, patient characteristic data,caregiver observation data, medication data, prior injury data, orcombinations thereof.
 3. The patient support system of claim 1, whereinthe controller is further configured to determine the desired rate ofoperation for the actuator based on a combination of the patientcondition and caregiver observation data comprising psychological data,phobia data, pain sensitivity data, nausea data, or combinationsthereof.
 4. The patient support system of claim 1, further comprising apatient presence sensor in communication with the controller, thepatient presence sensor configured to detect whether the patient isdisposed adjacent to the patient support surface; and wherein thecontroller further configured to determine the desired rate of operationfor the actuator based on a combination of the patient condition andwhether the patient is disposed adjacent to the patient support surface.5. The patient support system of claim 1, wherein the controller isfurther configured to determine a movement sensitivity score based onthe patient condition, and to determine the desired rate of operationfor the actuator based on a combination of the movement sensitivityscore and the patient condition.
 6. The patient support system of claim1, further comprising a user input device configured to transmit a userinput signal to the controller, and wherein the controller is configureddetermine the desired rate of operation of the actuator based on acombination of the user input signal and the patient condition.
 7. Thepatient support system of claim 1, further comprising deck sectionssupported by the base and a deck adjustment system to move one or moreof the deck sections relative to the base, the deck adjustment systemcomprises the actuator, the controller configured to control theactuator with the desired rate of operation to control the rate at whichone or more the deck sections moves relative to the base.
 8. A method ofoperating a patient support system for a patient having a patientcondition, the patient support system comprising a base and a patientsupport surface supported by the base, an actuator, a sensing systemcomprising a camera, and a controller, the method comprising the stepsof: sensing a condition of a patient with the camera of the sensingsystem to determine the patient condition for the patient; determining adesired rate of operation for the actuator based on the patientcondition; and controlling the actuator with the desired rate ofoperation to move the patient.
 9. The method of claim 8, furthercomprising determining a movement sensitivity score based on the patientcondition, and determining the desired rate of operation for theactuator based on the patient condition and the movement sensitivityscore.
 10. The method of claim 8, further comprising receiving a userinput signal with the controller, and determining the desired rate ofoperation for the actuator based on the user input signal and thepatient condition.
 11. The method of claim 8, the patient support systemcomprising memory in electronic communication with the controller, thememory storing operational modes, the method further comprisingselecting an operational mode, and controlling the rate of operation ofthe actuator based on the selected operational mode.
 12. The method ofclaim 8, wherein the patient support system comprises a coordinatedmotion device comprising the actuator and a second actuator, thecoordinated motion device capable of assuming a first state and a secondstate, the method further comprising controlling the actuator and thesecond actuator with the desired rate of operation to control the rateat which the coordinated motion device moves from the first state to thesecond state.
 13. The method of claim 8, wherein the patient supportsystem comprises a transport device to move the base across a floor, thetransport device comprising the actuator, the method further comprisingcontrolling the actuator with the desired rate of operation to controlthe rate at which the transport device moves along the floor.
 14. Themethod of claim 8, wherein the patient support system comprises decksections and a deck adjustment device to move one or more of the decksections, the deck sections supported by the base, the deck adjustmentdevice comprises the actuator, the method further comprising controllingthe actuator with the desired rate of operation to control the rate atwhich the deck adjustment device moves one or more of the deck sectionsrelative to the base.
 15. A patient support system for a patient havinga patient condition, the patient support system comprising: a base; apatient support surface supported by the base and configured to supportthe patient; a coordinated motion device comprising actuators, whereineach actuator is operable at different rates of operation, and whereinthe coordinated motion device is moving the patient support surface froma first state to a second state; a sensing system configured to sensethe patient condition when disposed on the patient support surface andto generate a patient condition sensor input signal, the sensing systemcomprising a camera configured to sense the patient condition whendisposed on the patient support surface; a user input device configuredto provide a user input signal; and a controller configured to receivethe user input signal from the user input device, determine a desiredrate of operation for each of the actuators based on a combination ofthe user input signal and the patient condition determined by the cameraof the sensing system, and transmit an output signal to control each ofthe actuators with the desired rate of operation.
 16. The patientsupport system of claim 15, wherein the controller is configured torecognize an actuation pattern of the user input device, and thecontroller is configured to determine a desired rate of operation foreach of the actuators based on a combination of the actuation patternand the patient condition determined by the camera of the sensingsystem.
 17. The patient support system of claim 15, wherein the userinput device comprises a force sensor, and the controller is configuredto determine the desired rate of operation based on a combination of aforce applied to the force sensor and the patient condition determinedby the camera of the sensing system.
 18. The patient support system ofclaim 15, further comprising a seat coupled to the base, wherein theseat defines a portion of the patient support surface, and the actuatorscomprise a first actuator and a second actuator, with the first actuatorconfigured to tilt the seat relative to the base, and with the secondactuator configured to lift the seat relative to the base.
 19. Thepatient support system of claim 15, wherein the first and second statesare selectable with the user input device, and the controller furtherconfigured to control a rate at which the patient support surface movesfrom the first state to the second state and the user input signal. 20.The patient support system of claim 15, wherein the user input devicecomprises a nurse control panel and a user control panel, the nursecontrol panel coupled to the patient support system such that the nursecontrol panel is out of reach of the patient when disposed on thesupport surface, and the user control panel coupled to the patientsupport system such that the patient control panel is within reach ofthe patient when disposed on the support surface.